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Titre :
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Combining sonar and infrared sensors for mobile robot navigation
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Auteurs :
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A. Flynn
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Type de document :
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article/chapitre/communication
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Année de publication :
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1988
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Format :
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5-14
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Langues:
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= Anglais
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Catégories :
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ROBOTIQUE
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Mots-clés:
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CAPTEUR
;
ROBOT
;
ROBOTIQUE
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Résumé :
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Multiple sensors can be used on a mobile robot so that it can perceive its environment with better accuracy than if either sensor were used alone. Sonar and infrared sensors are used here in a complementary fashion, where the advantages of one compensate for the disadvantages of the other. The robot then combines the information from the two sensors to build a more accurate map. Another representation, a modified version of the curvature primal sketch, is extracted from this perceived workspace and is used as the input to two path planning programs : one based on configuration space and one based on a generalized cone formulation of free space.
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Source :
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International journal of robotics research, vol.7, n°6
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