Cart (Loading....) | Create Account
Close category search window

Environment perception for a mobile robot using double ultrasonic sensors and a CCD camera

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Kai-Tai Song ; Dept. of Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan ; Wen-Hui Tang

To move efficiently in an unknown or uncertain environment, a mobile robot must use observations taken by various sensors to construct information for path planning and execution. A reasonably accurate representation of the external world would also be very useful for robot self-localization. One of the merits of applying multiple sensors to a mobile robot is the enhancement of environment recognition. In this paper, the authors propose to use sensory information combined from double ultrasonic sensors and a CCD camera. They developed an algorithm based on a dual-transducer design to eliminate errors resulting from the beam opening angle of ultrasonic sensors. An extended discrete Kalman filter (EDKF) was designed to fuse raw sensory data and to reduce the influence of specular reflection of ultrasonic type transducers, thereby providing a more reliable representation for environment perception. Computer simulation, as well as practical experimental results demonstrate that this sensory system can provide useful and comprehensive environment perception for intelligent robotics

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:43 ,  Issue: 3 )

Date of Publication:

Jun 1996

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.