Building a Sonar Map in a Specular Environment Using a Single Mobile Sensor
IEEE Transactions on Pattern Analysis and Machine Intelligence
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This paper describes an efficient method for estimating long distance navigation of a mobile robot, by fusing dead reckoning and the combining sensors which consist of sonar and infrared. A corridor with interval convex edges is applied as the mobile robot's moving space, and the convex edges are accepted as good landmarks for robot's position estimation. The robot detects the convex edges using combined sensor system, and navigates in this corridor by fusion the information from the dead reckoning and combined sensor based on the Extended Kalman Filter(EKF). The experimental result has shown that the method is effective for estimating of long distance navigation of the mobile robot.