Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Implementation of a sensor fusion system for autonomous guided robot navigation in outdoor environments

실외 자율 로봇 주행을 위한 센서 퓨전 시스템 구현

  • Lee, Seung-H. (Department of Electrical Engineering, Seoul National University) ;
  • Lee, Heon-C. (Department of Electrical Engineering, Seoul National University) ;
  • Lee, Beom-H. (Department of Electrical Engineering, Seoul National University)
  • 이승환 (서울대학교 전기컴퓨터공학부) ;
  • 이헌철 (서울대학교 전기컴퓨터공학부) ;
  • 이범희 (서울대학교 전기컴퓨터공학부)
  • Received : 2009.12.04
  • Accepted : 2010.05.18
  • Published : 2010.05.31
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Abstract

Autonomous guided robot navigation which consists of following unknown paths and avoiding unknown obstacles has been a fundamental technique for unmanned robots in outdoor environments. The unknown path following requires techniques such as path recognition, path planning, and robot pose estimation. In this paper, we propose a novel sensor fusion system for autonomous guided robot navigation in outdoor environments. The proposed system consists of three monocular cameras and an array of nine infrared range sensors. The two cameras equipped on the robot's right and left sides are used to recognize unknown paths and estimate relative robot pose on these paths through bayesian sensor fusion method, and the other camera equipped at the front of the robot is used to recognize abrupt curves and unknown obstacles. The infrared range sensor array is used to improve the robustness of obstacle avoidance. The forward camera and the infrared range sensor array are fused through rule-based method for obstacle avoidance. Experiments in outdoor environments show the mobile robot with the proposed sensor fusion system performed successfully real-time autonomous guided navigation.

Keywords

References

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