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http://dx.doi.org/10.12673/jant.2011.15.5.696

Mobile Robot Navigation using Data Fusion Based on Camera and Ultrasonic Sensors Algorithm  

Jang, Gi-Dong (한국항공대학교)
Park, Sang-Keon (한국항공대학교)
Han, Sung-Min (한국항공대학교)
Lee, Kang-Woong (한국항공대학교)
Publication Information
Journal of Advanced Navigation Technology / v.15, no.5, 2011 , pp. 696-704 More about this Journal
Abstract
In this paper, we propose a mobile robot navigation algorithm using data fusion of a monocular camera and ultrasonic sensors. Threshold values for binary image processing are generated by a fuzzy inference method using image data and data of ultrasonic sensors. Threshold value variations improve obstacle detection for mobile robot to move to the goal under poor illumination environments. Obstacles detected by data fusion of camera and ultrasonic sensors are expressed on the grid map and avoided using the circular planning algorithm. The performance of the proposed method is evaluated by experiments on the Pioneer 2-DX mobile robot in the indoor room with poor lights and a narrow corridor.
Keywords
Mobile Robot; Navigation; Data fusion;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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