Title :
Mobile robot navigation by multi-sensory integration
Author :
D´Orazio, T. ; Ianigro, M. ; Stella, E. ; Lovergine, F.P. ; Distante, A.
Author_Institution :
CNR-IESI, Bari, Italy
Abstract :
A strategy and a control architecture to allow a mobile robot to navigate in an indoor environment on a planned path is described. The robot´s control system includes several processes which run in parallel by using specialized hardware. The navigation subsystem of the mobile robot integrates the position estimation obtained by a vision system with the position estimated by odometry using a Kalman filter framework. Obstacle detection is performed by means of a set of ultrasonic sensors
Keywords :
Kalman filters; computer vision; computerised navigation; mobile robots; path planning; sensor fusion; Kalman filter; indoor environment; mobile robot; multi-sensory integration; navigation; obstacle detection; odometry; position estimation; ultrasonic sensors; Control systems; Indoor environments; Machine vision; Mobile robots; Monitoring; Navigation; Robot control; Sensor systems; Solid modeling; Vehicles;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292173
