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Target localization based on multisensor fusion for mobile robots
Yang, G. -S.; Hou, Z. -G.; Tan, M.; Yan, H.
AbstractUsing CCD, ultrasonic and infrared sensors, the authors propose a new hierarchical architecture for multisensor fusion, along with its algorithms for mobile robots. According to the architecture, firstly, an approach to locating targets is proposed when only ultrasonic sensors are available. Secondly, Gabor filter technology is employed to recognize unknown targets using the images provided by the CCD alone. Moreover, on the basis of the polynomial approximation, a method for calculating the coordinates of the ground special points, which are taken as the position descriptions of the recognized target, is presented. Thirdly, when CCD and ultrasonic sensors are available simultaneously, elements at the intersection of the information from CCD and ultrasonic sensors are fused to form reliable position coordinates of the recognized target. Last, the algorithm is tested on our designed and developed mobile robot, CASIA-I.
KeywordMultisensor Fusion Polynomial Approximation Target Localization Target Recognition Mobile Robot
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
WOS Research AreaAutomation & Control Systems ; Robotics
WOS SubjectAutomation & Control Systems ; Robotics
WOS IDWOS:000241276700002
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Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Affiliation1.Henan Univ, Inst Adv Control & Informat Proc, Kaifeng 475001, Peoples R China
2.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
Recommended Citation
GB/T 7714
Yang, G. -S.,Hou, Z. -G.,Tan, M.,et al. Target localization based on multisensor fusion for mobile robots[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2006,21(3):165-173.
APA Yang, G. -S.,Hou, Z. -G.,Tan, M.,&Yan, H..(2006).Target localization based on multisensor fusion for mobile robots.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,21(3),165-173.
MLA Yang, G. -S.,et al."Target localization based on multisensor fusion for mobile robots".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 21.3(2006):165-173.
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