An architecture for sensor fusion in a mobile robot
نویسندگان
چکیده
This paper describes sensor fusion in the context of an autonomous mobile robot, the NAVLAB system, based on a commercial truck with computer controls and studded with cameras and other sensors. This paper describes the software architecture of the NAVLAB, consisting of two parts: a "whiteboard" system called CODGER that is similar to a blackboard but supports parallelism in the knowledge source modules, and an organized collection of perceptual and navigational modules tied together by the CODGER system.
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