Active sensor fusion for collision avoidance

摘要

Presently, mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. These systems each have their strengths and weaknesses. To fully utilise the strengths of both the sonar and visual sensing systems, this paper proposes a fusion of navigating methods involving both the sonar and visual systems as primary sources to produce a fast, efficient and reliable obstacle-avoiding and navigating system. Furthermore, to further enhance a better perception of the surroundings and to improve the navigation capabilities of the mobile robot, active sensing modules are also included. The result is an active sensor fusion system for the collision avoiding behaviour of mobile robots, This behaviour can then be incorporated into other purposive behaviours (e.g. object seeking, path finding etc.). The validity of this system is also shown in real robot experiments.