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An Effective Mapping for a Mobile Robot using Error Backpropagation based Sensor Fusion  

Kim, Kyoung-Dong (Department of Robitics, Yeungnam Univ.)
Qu, Xiao-Chuan (Department of Electrical Engineering, Yeungnam Univ.)
Choi, Kyung-Sik (Department of Electrical Engineering, Yeungnam Univ.)
Lee, Suk-Gyu (Department of Electrical Engineering, Yeungnam Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.28, no.9, 2011 , pp. 1040-1047 More about this Journal
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
Sensor Fusion; Mobile Robot; Backpropagation; Neural Networks;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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