Mobile robot sensor fusion with fuzzy ARTMAP

Author(s): Carpenter, G.A. | Gaudiano, P. | Martens, S. |

Year: 1998

Citation: Proceedings of the 1998 IEEE International Symposium on Computational Intelligence in Robotics and Automation (ISIC/CIRA/ISAS 98), Piscataway, NJ: IEEE Press, 307-312.

Abstract: The raw sensory input available to a mobile robot suffers from a variety of shortcomings. Sensor fusion can yield a percept more veridical than is available from any single sensor input. In this project, the fuzzy ARTMAP neural network is used to fuse sonar and visual sonar on a B14 mobile robot. The neural network learns to associate specific sensory inputs with a corresponding distance metric. Once trained, the network yields more accurate predictions of range to obstacles than those provided by either sensor type alone. This improvement holds across all distances and impact angles tested.

Topics: Robotics, Applications: Remote Sensing, Models: Fuzzy ARTMAP,

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