Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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An Effective Mapping for a Mobile Robot using Error Backpropagation based Sensor Fusion

오류 역전파 신경망 기반의 센서융합을 이용한 이동로봇의 효율적인 지도 작성

  • Received : 2010.12.24
  • Accepted : 2010.04.07
  • Published : 2011.09.01
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Abstract

This paper proposes a novel method based on error back propagation neural networks to fuse laser sensor data and ultrasonic sensor data for enhancing the accuracy of mapping. For navigation of single robot, the robot has to know its initial position and accurate environment information around it. However, due to the inherent properties of sensors, each sensor has its own advantages and drawbacks. In our system, the robot equipped with seven ultrasonic sensors and a laser sensor navigates to map two different corridor environments. The experimental results show the effectiveness of the heterogeneous sensor fusion using an error backpropagation algorithm for mapping.

Keywords

Acknowledgement

Supported by : 한국과학재단

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