Grid-based framework for sensorial data integration in mobile robots

Augusto Ferreira da Silva; P. Menezes; Jorge Miranda Dias; Helder Araujo

doi:10.1117/12.287635

22 September 1997 Grid-based framework for sensorial data integration in mobile robots

Augusto Ferreira da Silva, P. Menezes, Jorge Miranda Dias, Helder Araujo

Proceedings Volume 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems; (1997) https://doi.org/10.1117/12.287635
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

This article presents a method to combine data from two sensorial modalities, a stereoscopic vision based sensor and a ring of ultrasonic sensors, in a grid based framework for obstacle detection and avoidance with mobile robots. The sensors' data is combined using Dempster-Shafer theory. This theory allows the combination of multiple sensorial data sources in a way that they are mutually enhanced and validated. A connectionist grid is used to support these operations and the environment modeling. Each grid node maps a configuration in a discrete subset of the robot's configuration space. The process used to obtain obstacle presence information from the stereoscopic setup and ultrasonic sensors is explained in detail. Detected obstacles result in sets of restricted configurations. The grid dynamic behavior allows the iterative computation of a repulsive potential field, which rises in the vicinity of the restricted configurations. As new information is collected by the sensors during the robot's motion so new configurations are marked as restrict and the potential field changes accordingly. Since this process occurs in real time, the computed potential field can be used to navigate the robot avoiding the detected obstacles. Experimental results are presented to support the used sensor models, the integration procedure and the control strategy.

Citation Download Citation

Augusto Ferreira da Silva, P. Menezes, Jorge Miranda Dias, and Helder Araujo "Grid-based framework for sensorial data integration in mobile robots", Proc. SPIE 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, (22 September 1997); https://doi.org/10.1117/12.287635

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