Title :
Logic-based sensor fusion for localization
Author :
Bison, Paolo ; Chemello, Gaetano ; Sossai, Claudio ; Trainito, Gaetano
Author_Institution :
LADSEB, CNR, Padova, Italy
Abstract :
A sensor-fusion technique based on the logic of possibility is proposed for the localization of a mobile robot in an approximately known indoor area. The basic concepts underlying the approach are summarized and the formal method for sensor fusion is illustrated. The technique is used to update the necessity values of a discrete set of relevant places in a topological map of the environment. Experimental tests, using a sonar ring and a beacon-tracking camera, are reported
Keywords :
mobile robots; optical tracking; path planning; probabilistic logic; robot vision; sensor fusion; sonar; beacon-tracking camera; formal method; localization; mobile robot; navigation; possibilistic logic; sensor fusion; sonar ring; topological map; Bayesian methods; Cameras; Logic; Mobile robots; Robot sensing systems; Sensor fusion; Sonar measurements; Sonar navigation; Testing; Uncertainty;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 1997. CIRA'97., Proceedings., 1997 IEEE International Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-8186-8138-1
DOI :
10.1109/CIRA.1997.613866
