Combining Sonar and Infrared Sensors for Mobile Robot Navigation
- 1 December 1988
- journal article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 7 (6) , 5-14
- https://doi.org/10.1177/027836498800700602
Abstract
Multiple sensors can be used on a mobile robot so that it can perceive its environment with better accuracy than if either sensor were used alone. Sonar and infrared sensors are used here in a complementary fashion, where the advantages of one compensate for the disadvantages of the other. The robot then combines the information from the two sensors to build a more accurate map. Another representation, a modified version of the curvature primal sketch, is extracted from this perceived workspace and is used as the input to two path planning programs: one based on configuration space and one based on a generalized cone formulation of free space.Keywords
This publication has 4 references indexed in Scilit:
- Some Heuristics for the Navigation of a RobotThe International Journal of Robotics Research, 1985
- A subdivision algorithm in configuration space for findpath with rotationIEEE Transactions on Systems, Man, and Cybernetics, 1985
- Solving the find-path problem by good representation of free spaceIEEE Transactions on Systems, Man, and Cybernetics, 1983
- Hidden surface removal using polygon area sortingACM SIGGRAPH Computer Graphics, 1977