Mobile robot navigation by multi-sensory integration

摘要

A strategy and a control architecture to allow a mobile robot to navigate in an indoor environment on a planned path is described. The robot's control system includes several processes which run in parallel by using specialized hardware. The navigation subsystem of the mobile robot integrates the position estimation obtained by a vision system with the position estimated by odometry using a Kalman filter framework. Obstacle detection is performed by means of a set of ultrasonic sensors.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>