Environment recognition for a mobile robot using double ultrasonic sensors and a CCD camera

Kai-Tai Song*, Wen Hui Tang

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

4 Scopus citations

Abstract

To move efficiently in an unknown or uncertain environment, a mobile robot must take observation from various sensors to provide information for path planning and execution. A sufficient representation of the external world would also be very useful for self-localization. One of the merits of applying multiple sensors to a mobile robot is the enhancement of environment recognition. In this paper, sensory information combined from double ultrasonic sensors and a CCD camera is provided for this purpose. We used ultrasonic sensors for distance measurement and a vision system for object boundaries detection. We developed an algorithm to eliminate errors due to the beam opening angle of ultrasonic sensors based on a dual-transducer design. Extended discrete Kalman filter was used to fuse raw sensory data and reduce the influence of specular reflection of ultrasonic type transducers. Therefore a more reliable representation was obtained for environment recognition. Computer simulation as well as practical experimental results show this sensory system can provide useful and robust environment recognition for intelligent robotics.

Original languageEnglish
Pages715-722
Number of pages8
StatePublished - 1 Dec 1994
EventProceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems - Las Vegas, NV, USA
Duration: 2 Oct 19945 Oct 1994

Conference

ConferenceProceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
CityLas Vegas, NV, USA
Period2/10/945/10/94

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