The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Data Fusion Method of Odometry Information and Distance Sensor for Effective Obstacle Avoidance of a Autonomous Mobile Robot

자율이동로봇의 효율적인 충돌회피를 위한 오도메트리 정보와 거리센서 데이터 융합기법

  • Published : 2008.04.01
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Abstract

This paper proposes the concept of "virtual sensor data" and its application for real time obstacle avoidance. The virtual sensor data is virtual distance which takes care of the movement of the obstacle as well as that of the robot. In practical application, the virtual sensor data is calculated from the odometry data and the range sensor data. The virtual sensor data can be used in all the methods which use distance data for collision avoidance. Since the virtual sensor data considers the movement of the robot and the obstacle, the methods utilizing the virtual sensor data results in more smooth and safer collision-free motion.

Keywords

References

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