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Proceedings Paper

Dynamic multisensor fusion for mobile robot navigation in an indoor environment
Author(s): Taeseok Jin; Jang-Myung Lee; Bing Lam Luk; Shiu Kit Tso
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Paper Abstract

In this study, as the preliminary step for developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera dn IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results form the simulations run.

Paper Details

Date Published: 4 October 2001
PDF: 11 pages
Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); doi: 10.1117/12.444154
Show Author Affiliations
Taeseok Jin, Pusan National Univ. (South Korea)
Jang-Myung Lee, Pusan National Univ. (South Korea)
Bing Lam Luk, City Univ. of Hong Kong (Hong Kong)
Shiu Kit Tso, City Univ. of Hong Kong (Hong Kong)

Published in SPIE Proceedings Vol. 4571:
Sensor Fusion and Decentralized Control in Robotic Systems IV
Gerard T. McKee; Paul S. Schenker, Editor(s)

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