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Proceedings Paper

Map building for mobile robots by ultrasonic and infrared sensor data fusion
Author(s): Levent Yenilmez; Hakan Temeltas
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Paper Abstract

This study implements a digital map building method for a mobile robot operating in an environment with obstacles by fusing sensor data. Required information for a map designing is supplied by fusion of different sensor data using sequential principal component method. We discus mathematical and experimental issues of the method. Application of the method for grid based map building is introduced and suitability in mobile robot navigation is demonstrated. Experimental studies are implemented on Nomad200 mobile robot successfully.

Paper Details

Date Published: 18 October 2002
PDF: 6 pages
Proc. SPIE 4902, Optomechatronic Systems III, (18 October 2002); doi: 10.1117/12.467644
Show Author Affiliations
Levent Yenilmez, Air Force Academy (Turkey)
Hakan Temeltas, Istanbul Technical Univ. (Turkey)

Published in SPIE Proceedings Vol. 4902:
Optomechatronic Systems III
Toru Yoshizawa, Editor(s)

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