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A Data Fusion Method of Odometry Information and Distance Sensor for Effective Obstacle Avoidance of a Autonomous Mobile Robot  

Seo, Dong-Jin ((주)레드원테크놀러지)
Ko, Nak-Yong (조선대 제어계측로봇공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.57, no.4, 2008 , pp. 686-691 More about this Journal
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
Virtual Sensor; Obstacle A voidance; Laser Range Finder; Autonomous Mobile Robot;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 0
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