Map building for mobile robots by ultrasonic and infrared sensor data fusion

Levent Yenilmez; Hakan Temeltas

doi:10.1117/12.467644

18 October 2002 Map building for mobile robots by ultrasonic and infrared sensor data fusion

Levent Yenilmez, Hakan Temeltas

Proceedings Volume 4902, Optomechatronic Systems III; (2002) https://doi.org/10.1117/12.467644
Event: Optomechatronic Systems III, 2002, Stuttgart, Germany

Abstract

This study implements a digital map building method for a mobile robot operating in an environment with obstacles by fusing sensor data. Required information for a map designing is supplied by fusion of different sensor data using sequential principal component method. We discus mathematical and experimental issues of the method. Application of the method for grid based map building is introduced and suitability in mobile robot navigation is demonstrated. Experimental studies are implemented on Nomad200 mobile robot successfully.

Citation Download Citation

Levent Yenilmez and Hakan Temeltas "Map building for mobile robots by ultrasonic and infrared sensor data fusion", Proc. SPIE 4902, Optomechatronic Systems III, (18 October 2002); https://doi.org/10.1117/12.467644

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