Title :
Indoor mobile robot localization using probabilistic multi-sensor fusion
Author :
Luo, Ren C. ; Lai, Chun Chi
Author_Institution :
Dept. of Electr. Eng., Nat. Chung Cheng Univ., Ming-Hsiung
Abstract :
This paper presents a probability fusion methodology with a decision rule for a feature extraction of indoor environment. Two range sensors with complementary property are equipped on a mobile service robot. One is a servo sonar ring composed by Polaroid 6500 ultrasonic rangers and the other is a Hokuyo infrared range-finder. For a real indoor environment is usually composed of different objects with variant material characteristics such as sound absorbed or light refraction. Theses may cause the sensor measurement failure to imperil the localization estimation procedure of an indoor service robot. Thus, multi-sensor fusion with a decision methodology is necessary for feasibility and reliability while service mobile robot is working in a compound indoor environment.
Keywords :
feature extraction; mobile robots; sensor fusion; service robots; Hokuyo infrared range-finder; Polaroid 6500 ultrasonic rangers; feature extraction; indoor mobile robot localization; light refraction; mobile service robot; probabilistic multisensor fusion; servo sonar ring; Acoustic materials; Acoustic refraction; Acoustic sensors; Feature extraction; Indoor environments; Mobile robots; Sensor phenomena and characterization; Service robots; Servomechanisms; Sonar measurements;
Conference_Titel :
Advanced Robotics and Its Social Impacts, 2007. ARSO 2007. IEEE Workshop on
Conference_Location :
Hsinchu
Print_ISBN :
978-1-4244-1952-4
Electronic_ISBN :
978-1-4244-1953-1
DOI :
10.1109/ARSO.2007.4531415
