Multi-sensor (IR) data fusion for mobile robot navigation using occupancy grid method.
type: CreativeWork
description: The main topic of the thesis is the multi-sensor data fusion in the context of mobile robot navigation. The work presented has been part of a continuous research done in the field of mobile robots. In that respect, a mobile robot platform with an onboard manipulation capability has been developed as an experimental platform for a multi-sensor system for teleautonomous applications in an unstructured environment. Different types of sensors have been provided to gather information about the environment: infrared (IR) range finders, vision, tactile, position. While vision and tactile sensors were approached by other related work, this thesis is essentially aimed to solve the following problems: (1) Mobile robot navigation, in terms of electronic interface and computerized control with real-time range data acquisition for obstacle avoidance, using a GUI (Graphical User Interface); (2) Occupancy grid method implementation using Bayesian analysis for the case of an IR ranging sensor; (3) Unstructured environment mapping, in the context of multi-sensor data fusion of mobile robot views taken from different given positions; (4) Global map integration with other types of sensory information (vision).
abstract: The main topic of the thesis is the multi-sensor data fusion in the context of mobile robot navigation. The work presented has been part of a continuous research done in the field of mobile robots. In that respect, a mobile robot platform with an onboard manipulation capability has been developed as an experimental platform for a multi-sensor system for teleautonomous applications in an unstructured environment. Different types of sensors have been provided to gather information about the environment: infrared (IR) range finders, vision, tactile, position. While vision and tactile sensors were approached by other related work, this thesis is essentially aimed to solve the following problems: (1) Mobile robot navigation, in terms of electronic interface and computerized control with real-time range data acquisition for obstacle avoidance, using a GUI (Graphical User Interface); (2) Occupancy grid method implementation using Bayesian analysis for the case of an IR ranging sensor; (3) Unstructured environment mapping, in the context of multi-sensor data fusion of mobile robot views taken from different given positions; (4) Global map integration with other types of sensory information (vision).
author: Gal, Carol.
keywords: Engineering, Electronics and Electrical.
identifier: Source: Masters Abstracts International, Volume: 34-02, page: 0829.
date published: 2009-03-23T14:15:25Z
date modified: 2026-07-24T03:39:27Z
provider: University of Ottawa
publisher: Networked Digital Library of Theses and Dissertations
type: WebPage
source organization: University of Ottawa (Canada)

PropertyValue
property ID: Handle
value: http://hdl.handle.net/10393/6843

PropertyValue
property ID: DOI
value: 10.20381/ruor-11480