Multisensor Fusion: An Autonomous Mobile Robot

Authors:
F. Matí/a;A. Jimé/nez
Affiliations:
DISAM –/ Universidad Polité/cnica de Madrid, José/ Gutié/rrez Abascal 2, E-28006 Madrid, Spain/ e-mail: matia@disam.upm.es;DISAM –/ Universidad Polité/cnica de Madrid, José/ Gutié/rrez Abascal 2, E-28006 Madrid, Spain/ e-mail: matia@disam.upm.es
Venue:
Journal of Intelligent and Robotic Systems
Year:
1998

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Abstract

A conventional autonomous mobile robot is introduced. The main idea isthe integration of many conventional and sophisticated sensor fusiontechniques, introduced by several authors in recent years. We show theactual possibility of integrating all these techniques together, rather thananalyzing implementation details. The topics of multisensor fusion,observation integration and sensor coordination are widely used throuhoutthe article. The final goal is to demonstrate the validity of bothmathematical and artificial intelligence techniques in guaranteeing vehiclesurvival in a dynamic environment, while the robot carries out a specifictask. We review conventional techniques for the management of uncertaintywhile we describe an implementation of a mobile robot which combines on-lineheterogeneous sensors in its navigation and localisation tasks.