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Multisensor fusion and navigation of mobile robots
Author(s) -
Chen SuShing
Publication year - 1987
Publication title -
international journal of intelligent systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.291
H-Index - 87
eISSN - 1098-111X
pISSN - 0884-8173
DOI - 10.1002/int.4550020206
Subject(s) - motion planning , computer science , mobile robot , computer vision , artificial intelligence , path (computing) , robot , sensor fusion , octree , representation (politics) , mobile robot navigation , motion (physics) , scheme (mathematics) , real time computing , robot control , mathematics , mathematical analysis , politics , political science , law , programming language
Navigation and motion control of autonomous mobile robots require an on‐line, real‐time sensory feedback system to guide robots to stay on planned path, to avoid unexpected obstacles, to return to planned path if a detour is necessary, and even to replan the path. This problem is a difficult one, because of incomplete world knowledge and unknown obstacles. A spherical sensory model similar to human perception is presented. Its spherical octree data structure provides an efficient and unified representation scheme for multisensor fusion, navigation, motion control, and spatial reasoning.