This paper presents the design and implementation of a perceptual system forthe mobile robot using modern sensors and multi-point communication channels.The data extracted from the perceptual system is processed by a sensor fusionmodel to obtain meaningful information for the robot localization and control.Due to the uncertainties of acquiring data, an extended Kalman filter wasapplied to get optimal states of the system. Several experiments have beenconducted and the results confirmed the functioning operation of the perceptualsystem and the efficiency of the Kalman filter approach.
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