Redundant Sensors for Mobile Robot Navigation

Abstract

Redundant sensors are needed on a mobile robot so that the accuracy with which it perceives its surroundings can be increased. Sonar and infrared sensors are used here in tandem, each compensating for deficiencies in the other. The robot combines the data from both sensors to build a representation which is more accurate than if either sensor were used alone. Another representation, 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. (Author).

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1985
Accession Number
ADA161087

Entities

People

  • Anita M. Flynn

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Autonomous Systems
  • Collision Avoidance
  • Computer Graphics
  • Detection
  • Detectors
  • Guidance
  • Infrared Detectors
  • Jet Propulsion
  • Motion Planning
  • Navigation
  • Operating Systems
  • Range Finders
  • Range Finding
  • Robot Navigation
  • Robots
  • Three Dimensional

Readers

  • Database Systems and Applications
  • Operations Research
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Space
  • Space - Space Objects
  • Space - Spacecraft Maneuvers