Ultrasonic and Video Data Fusion for Mobile Robot Navigation

نویسندگان

A. Bonci

T. Leo

S. Longhi

چکیده

A multisensor fusion approach for improving the map-building capability of a mobile robot is presented in this paper. Ultrasonic and video data are used. A modelling technique for indoor environments based on line features extraction from video data and from range data is proposed. The Hough transform is considered for extracting lines from the occupancy grid and from video images.

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Effective Mechatronic Models and Methods for Implementation an Autonomous Soccer Robot

Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...

متن کامل

Navigation of a Mobile Robot Using Virtual Potential Field and Artificial Neural Network

Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...

متن کامل

A New Approach to Self-Localization for Mobile Robots Using Sensor Data Fusion

This paper proposes a new approach for calibration of dead reckoning process. Using the well-known UMBmark (University of Michigan Benchmark) is not sufficient for a desirable calibration of dead reckoning. Besides, existing calibration methods usually require explicit measurement of actual motion of the robot. Some recent methods use the smart encoder trailer or long range finder sensors such ...

متن کامل

Mobile Robot Navigation Error Handling Using an Extended Kalman Filter

Obviously navigation is one of the most complicated issues in mobile robots. Intelligent algorithms are often used for error handling in robot navigation. This Paper deals with the problem of Inertial Measurement Unit (IMU) error handling by using Extended Kalman Filter (EKF) as an Expert Algorithms. Our focus is put on the field of mobile robot navigation in the 2D environments. The main chall...

متن کامل