A new approach to map building by sensor data fusion: sequential principal component-SPC method |
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Authors: | Levent Yenilmez Hakan Temeltas |
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Affiliation: | (1) Faculty of Electrical and Electronics Engineering, Istanbul Technical University, Maslak, Istanbul, 80626, Turkey |
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Abstract: | This study proposes a new map building method for a mobile robot operating in an environment with obstacles by fusing sensor
data. Required information for a map designing is supplied by fusion of different sensor data using the sequential principal
component (SPC) method. We discuss mathematical and experimental issues of the method by comparing a Bayesian method that
works efficiently in map building using sensor data fusion. Application of the method for grid based map building is introduced
and compatibility in mobile robot navigation is demonstrated. Experimental studies are implemented on Nomad200 mobile robot
successfully. |
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Keywords: | Bayesian Map building Mobile robot Sensor data fusion |
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