Ultrasonic sensor data fusion for environment recognition

Kai-Tai Song*, Charles C. Chang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Scopus citations

Abstract

To move in an unknown or uncertain environment, a mobile robot must take observations from many different sensors for providing information to build a representation of the external world. Ultrasonic sensors can provide range data easily; but they are not sufficient for environment recognition due to its large beam opening angle. In this article, the beam-opening angle problem of ultrasonic range sensor is solved by using artificial neural networks to fuse multiple ultrasonic sensors. On the other hand, a mathematical model about the same problem was also derived. Both simulation and experimental results of scanning images are presented. The line extractor of sensor image is developed by using the regression model with a little modification. The simulation results show this method is useful for environment recognition of robotic systems.

Original languageEnglish
Title of host publication1993 International Conference on Intelligent Robots and Systems
Editors Anon
PublisherPubl by IEEE
Pages384-390
Number of pages7
ISBN (Print)0780308239
DOIs
StatePublished - 1 Dec 1993
EventProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
Duration: 26 Jul 199330 Jul 1993

Publication series

Name1993 International Conference on Intelligent Robots and Systems

Conference

ConferenceProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
CityYokohama, Jpn
Period26/07/9330/07/93

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