Title :
An agent-based ultrasonic sensing system for mobile robots
Author :
Freire, Eduardo Oliveira ; Bastos, Teodiano Freire ; Dynnikov, Vladimir
Author_Institution :
Dept. Electr. Eng., Fed. Univ. of Espirito Santo, Brazil
Abstract :
The performance of a mobile robot navigation system is limited by the sensorial data available. For a mobile robot under construction, an agent-based control system is being implemented, for which a ultrasonic system was developed. This sensing system is able to provide the information on the type of detected obstacle as well as on the distance from it to the robot. By the use of the agent model, it was possible to design the ultrasonic sensing system with the capability of avoiding the generation of redundant or unnecessary information, as well as to decide if information is relevant or not
Keywords :
mobile robots; navigation; sensor fusion; software agents; ultrasonic applications; ultrasonic transducers; agent-based control system; detected obstacle; mobile robots; redundant information; robot navigation system; ultrasonic sensing system; Actuators; Control systems; Microcontrollers; Mobile robots; Navigation; Robot sensing systems; Sensor phenomena and characterization; Sensor systems; Ultrasonic transducers; Wheels;
Conference_Titel :
Circuits and Systems, 1997. Proceedings of the 40th Midwest Symposium on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-7803-3694-1
DOI :
10.1109/MWSCAS.1997.666222
