Online Paper: Franklin-Agents97
Integrating Range and Object Data for Robot Navigation
David Franklin & R. James Firby
Most sensors used for robot navigation fall into one of two broad
categories: range sensors that give approximate distances to
obstacles, and object-based sensors that detect and locate objects of
specific types. Each type of sensor does a good job of detecting
certain kinds of obstacles, but fails to detect others. A robust
robot navigation system must be able to integrate data from both
sources. We present an implemented system that combines information
from range and object-based sensors into a single representation that
is used to reliably navigate a robot through an office environment.
The high level nature of the representation allows easy integration
of task-specific navigation constraints. Results are given
demonstrating how the system is utilized on our mobile robot, Chip.