Indoor mobile robot localization using probabilistic multi-sensor fusion

R. Luo, Chun C. Lai
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引用次数: 7

Abstract

This paper presents a probability fusion methodology with a decision rule for a feature extraction of indoor environment. Two range sensors with complementary property are equipped on a mobile service robot. One is a servo sonar ring composed by Polaroid 6500 ultrasonic rangers and the other is a Hokuyo infrared range-finder. For a real indoor environment is usually composed of different objects with variant material characteristics such as sound absorbed or light refraction. Theses may cause the sensor measurement failure to imperil the localization estimation procedure of an indoor service robot. Thus, multi-sensor fusion with a decision methodology is necessary for feasibility and reliability while service mobile robot is working in a compound indoor environment.
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基于概率多传感器融合的室内移动机器人定位
提出了一种带有决策规则的概率融合方法,用于室内环境特征提取。在移动服务机器人上安装两个具有互补特性的距离传感器。一个是由宝丽来6500超声波测距仪组成的伺服声纳环,另一个是北洋红外测距仪。因为真实的室内环境通常由不同的物体组成,这些物体具有不同的材料特性,如吸声或光折射。这些问题可能导致传感器测量失败,危及室内服务机器人的定位估计过程。因此,服务移动机器人在复杂的室内环境中工作时,多传感器融合和决策方法是保证其可行性和可靠性的必要条件。
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