Grid based navigation for autonomous robots - an algorithm based on the integration of vision and sonar data

A. Silva, P. Menezes, J. Dias

Research output: Contribution to conferencePaperpeer-review

2 Scopus citations

Abstract

In this article, visual data obtained by a binocular active vision system is integrated, together with ultrasonic range measurements, in the development of an obstacle detection and avoidance system based on a connectionist grid. This grid based framework allows tile integration of two different sensing modalities (vision and sonar) in a way that incoming sensorial data can be mutually enhanced and validated. Each grid node maps a configuration in a discrete subset of the robot's configuration space. Detected obstacles result in sets of restricted configurations. Using the grid data, a potential field is interactively computed for each mapped configuration. This computation is done in real-time, during the robot's motion, so the potential field changes as new data is integrated into the grid. We also propose the implementation of some innovative sensing and control strategies, using the integrated sensorial information.

Original languageBritish English
Pages802-806
Number of pages5
StatePublished - 1997
EventProceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3) - Guimaraes, Portugal
Duration: 7 Jul 199711 Jul 1997

Conference

ConferenceProceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3)
CityGuimaraes, Portugal
Period7/07/9711/07/97

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