Workspace mapping based on multisensor information fusion using heterogeneous onboard sensors
M. Miyake, H. Takai, K. Tachibana
Dec 15, 2009
Citations
3
Citations
Journal
Artificial Life and Robotics
Full text
Semantic Scholar
Key Takeaway Key Takeaway: This workspace mapping algorithm using ultrasonic stereo sonar and an image sensor effectively detects obstacles in congested workspaces, enabling smooth team operations for mobile robots.
Abstract
In recent years, multiple robot systems that perform team operations have been developed. These robot systems are expected to execute complicated tasks smoothly in a given congested workspace. In this article, we propose a workspace mapping algorithm using ultrasonic stereo sonar and an image sensor in order to operate the mobile robots among obstacles. This workspace mapping algorithm involves two steps: (1) the position detection of obstacles using ultrasonic stereo sonar, and (2) the shape detection of obstacles using an image sensor. While each robot moves around in the given workspace, the two steps of the mapping algorithm are repeated and sensor data are collected. The robot measures the distance and the direction of obstacles using ultrasonic stereo sonar. The shape of obstacles is also captured using an onboard image sensor. A workspace map is created based on the sensor data accumulated from the proposed method, and successful results are also obtained through experiments.