Dynamic multi-sensor fusion for mobile robot navigation in an indoor environment

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)22_Publication in policy or professional journal

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  • Tae-Seok Jin
  • Jang-Myung Lee
  • Bing Lam Luk
  • S. K. Tso


Original languageEnglish
Pages (from-to)139-149
Journal / PublicationProceedings of SPIE - The International Society for Optical Engineering
Publication statusPublished - 2001
Externally publishedYes


TitleSensor Fusion and Decentralized Control in Robotic Systems IV
PlaceUnited States
CityNewton, MA
Period28 - 29 October 2001


In this study, as the preliminary step for developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera and IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results from the simulations run.

Research Area(s)

  • Map-building, Mobile robot, Mobile robot navigation, Motion planning, Sensor fusion