COMBINING SONAR AND INFRARED-SENSORS FOR MOBILE ROBOT NAVIGATION

被引：76

作者：

FLYNN, AM

机构：

[1] MIT, United States

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1988年 / 7卷 / 06期

关键词：

Artificial Intelligence - Infrared Devices - Navigation - Sensors - Sonar;

D O I：

10.1177/027836498800700602

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Multiple sensors can be used on a mobile robot so that it can perceive its environment with better accuracy than if either sensor were used alone. Sonar and infrared sensors are used here in a complementary fashion, where the advantages of one compensate for the disadvantages of the other. The robot then combines the information from the two sensors to build a more accurate map. Another representation, a modified version of the curvature primal sketch, is extracted from this perceived workspace and is used as the input to two path planning programs: one based on configuration space and one based on a generalized cone formulation of free space.

引用

页码：5 / 14

页数：10

共 15 条

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