標題: Ultrasonic sensor data integration and its application to environment perception
作者: Chang, CC
Song, KT
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 1-十月-1996
摘要: To move in an unknown or uncertain environment, a mobile robot must collect information from various sensors and use it to construct a representation of the external world. Ultrasonic sensors can provide range data for this purpose in a simple and cost-effective way. However, most ultrasonic sensors are not sufficient for environment recognition because of their large beam opening angles. In this article the beam-opening-angle problem is solved by fusing data from multiple ultrasonic sensors. We propose two methods for sensor data fusion. One uses an artificial neural network (ANN), and the other is based on a mathematical model. Simulations and experiments show that the mathematical model is more accurate when there is no noise in the sensor readings, but the ANN method is better when the sensors are subject to much noise. To extract line segments from the ultrasonic image, we develop a line extractor that is more efficient than traditional line fitting methods in this application. Experimental results show that this method is effective for environment perception in a robotic system. (C) 1996 John Wiley & Sons, Inc.
URI: http://hdl.handle.net/11536/1013
ISSN: 0741-2223
期刊: JOURNAL OF ROBOTIC SYSTEMS
Volume: 13
Issue: 10
起始頁: 663
結束頁: 677
顯示於類別:期刊論文


文件中的檔案:

  1. A1996VG71600003.pdf