Mobile robot navigation based on the fusion of control signals from different controllers

EDUARDO FREIRE; RICARDO CARELLI; VICTENTE MUT; CARLOS SORIA; TEODIANO FREIRE BASTOS; MARIO SARCINELLI

Porto, Portugal

Conferencia; European Control Conference, ECC´2001; 2001

This paper proposes an alternative approach to deal with the problem of mobile robot navigation, which is called fusion of control signals. The proposed technique has presented good results when the robot has to execute relatively complex tasks, as it is shown in the illustrative example here presented. The technique is developed with basis on the decentralized information filter, whose equations are here derived from the equations of the decentralized Kalman filter and the information filter. Motion controllers available in the literature are used to produce the control signals that are fused in order to produce the overall output signal to be sent to the actuators.fusion of control signals. The proposed technique has presented good results when the robot has to execute relatively complex tasks, as it is shown in the illustrative example here presented. The technique is developed with basis on the decentralized information filter, whose equations are here derived from the equations of the decentralized Kalman filter and the information filter. Motion controllers available in the literature are used to produce the control signals that are fused in order to produce the overall output signal to be sent to the actuators.