DocumentCode :
3178967
Title :
Behavior-based mobile robot using active sensor fusion
Author :
Kweon, I. ; Kuno, Y. ; Watanabe, M. ; Onoguchi, K.
Author_Institution :
Toshiba Corp., Kawasaki, Japan
fYear :
1992
fDate :
12-14 May 1992
Firstpage :
1675
Abstract :
The authors present a navigation system using multiple sensors for unknown and dynamic indoor environments. To achieve robustness and flexibility in the mobile robot, a behavior-based system architecture is developed consisting of multilayered behaviors using multiple sensors that were ultrasonic sensors and a video camera. Basic behaviors required for navigation, such as avoiding obstacles, moving toward free space, and following targets are redundantly developed as agents and combined in a behavior-based system architecture. The capabilities of the system were demonstrated in unstructured real office environments using an indoor mobile robot
Keywords :
computer vision; computerised navigation; mobile robots; path planning; sensor fusion; active sensor fusion; behavior-based system architecture; mobile robot; navigation; obstacle avoidance; ultrasonic sensors; video camera; Cameras; Mobile robots; Navigation; Robot sensing systems; Robot vision systems; Robustness; Sensor fusion; Sensor phenomena and characterization; Sensor systems; Target tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
Type :
conf
DOI :
10.1109/ROBOT.1992.220137
Filename :
220137
Link To Document :
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