Active Sensor Fusion for Collision Avoidance in Behaviour-Based Mobile Robots

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 sys- tems each have their strengths and weaknesses. For example, although the visual system enables a rich input of data from the surrouding environment, allowing an accurate perception of the area, processing of the images invariably takes time. The sonar system, on the other hand, though quicker in response, is lim- ited in terms of quality, accuracy and range of data.