AGV corridor navigation based on data fusion

CARLOS SORIA; RICARDO CARELLI; EDUARDO FREIRE

Salvador de Bahía, Brasil

Congreso; XVI Congresso Brasileiro de Automática; 2006

Sociedade Brasileira de Automática

This work presents a control strategy for mobile robots navigating in corridors, using the data fusion from ultrasonic and vision sensors. The controller generates angular velocity commands to keep the robot navigating along the corridor. The fusion of both data signals is done through a Decentralized Information Filter. Experiments on a laboratory robot are presented to show the feasibility and performance of the proposed control system.