Skip to main content
SpringerLink
Log in

Multisensor Fusion: An Autonomous Mobile Robot

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

A conventional autonomous mobile robot is introduced. The main idea is the integration of many conventional and sophisticated sensor fusion techniques, introduced by several authors in recent years. We show the actual possibility of integrating all these techniques together, rather than analyzing implementation details. The topics of multisensor fusion, observation integration and sensor coordination are widely used throuhout the article. The final goal is to demonstrate the validity of both mathematical and artificial intelligence techniques in guaranteeing vehicle survival in a dynamic environment, while the robot carries out a specific task. We review conventional techniques for the management of uncertainty while we describe an implementation of a mobile robot which combines on-line heterogeneous sensors in its navigation and localisation tasks.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Ayache, N. and Faugeras, O. D.: Maintaining representation of the environment of a mobile robot, IEEE Trans. Robotics Automat. 5(6) (1989), 804–819.

    Google Scholar 

  2. Brooks, R. A.: A robust layered control system for a mobile robot, IEEE J. Robotics Automat. 2(1) (1986), 14–23.

    Google Scholar 

  3. Crowley, J. L.: Mathematical foundations of navigation and perception for an autonomous mobile robot, in: Reasoning with Uncertainty in Robotics, Springer, Berlin, 1996, pp. 9–51.

    Google Scholar 

  4. Durrant-White, H. F.: Integration, Coordination and Control of Multi-sensor Robot Systems, Kluwer Academic Publishers, Dordrecht, 1988.

    Google Scholar 

  5. Elfes, A.: Sonar-based real-world mapping and navigation, in: Autonomous Robot Vehicles, Springer, Berlin, 1990.

    Google Scholar 

  6. Matía, F., Moraleda, E., Jiménez, A., and Puente, E. A.: Autonomous systems and the management of uncertainty, in: Proc. Fuzzy Logic and the Management of Complexity (FLAMOC), Sidney, Australia, 1996, pp. 61–65.

  7. Moreno, L., Moraleda, E., Salichs, M. A., Pimentel, J. R., and Escalera, A.: Fuzzy supervisor for behavioral control of autonomous systems, in: Proc. IECON'93,Maui, Hawaii, USA, 1993, pp. 258–261.

  8. Zhang, Z. and Faugeras, O.: A 3D world model builder with a mobile robot, Internat. J. Robotics Res. 11(4) (1992), 269–285.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. DISAM – Universidad Politécnica de Madrid, José Gutiérrez Abascal 2, E-28006, Madrid, Spain

    F. Matía & A. Jiménez

Authors
  1. F. Matía
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. A. Jiménez
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Matía, F., Jiménez, A. Multisensor Fusion: An Autonomous Mobile Robot. Journal of Intelligent and Robotic Systems 22, 129–141 (1998). https://doi.org/10.1023/A:1007928600410

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1023/A:1007928600410

Search

Navigation