Affiliation:
1. Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge, Massachusetts 02139
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.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Cited by
88 articles.
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