Abstract
Sensor fusion brings the advantage of combining data from various sensors and there by generating a more accurate prediction or estimation of data. Over dependency of sensor and estimation from unreliable data are the most challenging tasks in mobile robotics. In this paper, a framework of sensor fusion technique is presented. The data from the multiple sensors are fused together and the parameters and crash time are estimated. The experiment results show that the sensor fusion technique provides solution to over dependency of sensor and problems with estimation of data from unreliable data. The technique finds application in obstacle avoidance and localization of mobile robots.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Elmenreich, W.: A review on system architectures for sensor fusion applications. In: Obermaisser, R., et al. (eds.) SEUS 2007. LNCS, vol. 4761, pp. 547–559. Springer, Heidelberg (2007)
Foxlin, E.: Inertial head-tracker sensor fusion by a complementary separate-bias Kalman filter. In: Proceedings of the IEEE 1996 Virtual Reality Annual International Symposium, pp. 185–194. IEEE (March 1996)
Jetto, L., Longhi, S., Venturini, G.: Development and experimental validation of an adaptive extended Kalman filter for the localization of mobile robots. IEEE Transactions on Robotics and Automation 15(2), 219–229 (1999)
Kam, M., Zhu, X., Kalata, P.: Sensor fusion for mobile robot navigation. Proceedings of the IEEE 85(1), 108–119 (1997)
Naji, H.R., Weir, J., Wells, B.E.: Applying the multi-agent paradigm to reconfigurable hardware: a sensor fusion example. In: Second International Workshop on Intelligent Systems Design and Application, pp. 207–212. Dynamic Publishers, Inc. (January 2002)
Nicosevici, T., Garcia, R., Carreras, M., Villanueva, M.: A review of sensor fusion techniques for underwater vehicle navigation. In: OCEANS 2004, MTTS/IEEE TECHNO-OCEAN 2004, vol. 3, pp. 1600–1605. IEEE (2004)
Panich, S., Afzulpurkar, N.: Sensor Fusion Techniques in Navigation Application for Mobile Robot. In: Sensor Fusion-Foundation and Applications, pp. 101–120 (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Sharma, R., Daniel, H., Dušek, F. (2014). Sensor Fusion: An Application to Localization and Obstacle Avoidance in Robotics Using Multiple IR Sensors. In: Zelinka, I., Suganthan, P., Chen, G., Snasel, V., Abraham, A., Rössler, O. (eds) Nostradamus 2014: Prediction, Modeling and Analysis of Complex Systems. Advances in Intelligent Systems and Computing, vol 289. Springer, Cham. https://doi.org/10.1007/978-3-319-07401-6_38
Download citation
DOI: https://doi.org/10.1007/978-3-319-07401-6_38
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-07400-9
Online ISBN: 978-3-319-07401-6
eBook Packages: EngineeringEngineering (R0)