Multi-ultrasonic sensor fusion for autonomous mobile robots

Zou Yi; Yeong Khing Ho; Chin Seng Chua; Xiao Wei Zhou

doi:10.1117/12.381644

3 April 2000 Multi-ultrasonic sensor fusion for autonomous mobile robots

Zou Yi, Yeong Khing Ho, Chin Seng Chua, Xiao Wei Zhou

Proceedings Volume 4051, Sensor Fusion: Architectures, Algorithms, and Applications IV; (2000) https://doi.org/10.1117/12.381644
Event: AeroSense 2000, 2000, Orlando, FL, United States

Abstract

Specular reflections from environments cause uncertainties to ultrasonic sensor range data. In this paper, we examine the application of evidential method for data integration using the specially designed sensor model to overcome the problem. Dempster's rule of combination is used to fuse the sensor data to obtain the map defined on a 2D evidence grid. The sensor model tries to reduce the uncertainties caused by specular reflections with a filtering factor. Experimental results have shown the usefulness of this method.

Citation Download Citation

Zou Yi, Yeong Khing Ho, Chin Seng Chua, and Xiao Wei Zhou "Multi-ultrasonic sensor fusion for autonomous mobile robots", Proc. SPIE 4051, Sensor Fusion: Architectures, Algorithms, and Applications IV, (3 April 2000); https://doi.org/10.1117/12.381644

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