Adaptive weighted average sensor fusion algorithms for mobile robots

Keren Kapach; Yael Edan

Adaptive weighted average sensor fusion algorithms for mobile robots

Keren Kapach
, Yael Edan

Department of Industrial Engineering and Management

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a new set of sensor fusion algorithms for mapping the environment of mobile robots using grid maps. The algorithms use the adaptive weighted average method and consider as weights the number of times each cell was sampled by the sensor. Analysis in an indoor mobile robot experiment indicated superior performance of one of the new algorithms when compared to a previously developed adaptive fuzzy logic algorithm.

Original language	English
Title of host publication	MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007
Editors	Antonio Palma dos Reis, Katherine Blashki, Yingcai Xiao
Publisher	IADIS Press
Pages	43-50
Number of pages	8
ISBN (Electronic)	9789728924393
State	Published - 1 Jan 2007
Event	2007 IADIS International Conference on Intelligent Systems and Agents, ISA 2007, part of the 1st IADIS Multi Conference on Computer Science and Information Systems, MCCSIS 2007 - Lisbon, Portugal Duration: 3 Jul 2007 → 8 Jul 2007

Publication series

Name	MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007
Volume	Part 1

Conference

Conference	2007 IADIS International Conference on Intelligent Systems and Agents, ISA 2007, part of the 1st IADIS Multi Conference on Computer Science and Information Systems, MCCSIS 2007
Country/Territory	Portugal
City	Lisbon
Period	3/07/07 → 8/07/07

Keywords

Algorithms
Autonomous mobile robots
Robotics
Sensor fusion

ASJC Scopus subject areas

General Computer Science

Cite this

Kapach, K., & Edan, Y. (2007). Adaptive weighted average sensor fusion algorithms for mobile robots. In A. P. dos Reis, K. Blashki, & Y. Xiao (Eds.), MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007 (pp. 43-50). (MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007; Vol. Part 1). IADIS Press.

Kapach, Keren ; Edan, Yael. / Adaptive weighted average sensor fusion algorithms for mobile robots. MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007. editor / Antonio Palma dos Reis ; Katherine Blashki ; Yingcai Xiao. IADIS Press, 2007. pp. 43-50 (MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007).

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title = "Adaptive weighted average sensor fusion algorithms for mobile robots",

abstract = "This paper presents a new set of sensor fusion algorithms for mapping the environment of mobile robots using grid maps. The algorithms use the adaptive weighted average method and consider as weights the number of times each cell was sampled by the sensor. Analysis in an indoor mobile robot experiment indicated superior performance of one of the new algorithms when compared to a previously developed adaptive fuzzy logic algorithm.",

keywords = "Algorithms, Autonomous mobile robots, Robotics, Sensor fusion",

author = "Keren Kapach and Yael Edan",

note = "Publisher Copyright: {\textcopyright} 2007 IADIS.; 2007 IADIS International Conference on Intelligent Systems and Agents, ISA 2007, part of the 1st IADIS Multi Conference on Computer Science and Information Systems, MCCSIS 2007 ; Conference date: 03-07-2007 Through 08-07-2007",

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language = "English",

series = "MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007",

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editor = "\{dos Reis\}, \{Antonio Palma\} and Katherine Blashki and Yingcai Xiao",

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Kapach, K & Edan, Y 2007, Adaptive weighted average sensor fusion algorithms for mobile robots. in AP dos Reis, K Blashki & Y Xiao (eds), MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007. MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007, vol. Part 1, IADIS Press, pp. 43-50, 2007 IADIS International Conference on Intelligent Systems and Agents, ISA 2007, part of the 1st IADIS Multi Conference on Computer Science and Information Systems, MCCSIS 2007, Lisbon, Portugal, 3/07/07.

Adaptive weighted average sensor fusion algorithms for mobile robots. / Kapach, Keren; Edan, Yael.
MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007. ed. / Antonio Palma dos Reis; Katherine Blashki; Yingcai Xiao. IADIS Press, 2007. p. 43-50 (MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007; Vol. Part 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Adaptive weighted average sensor fusion algorithms for mobile robots

AU - Kapach, Keren

AU - Edan, Yael

PY - 2007/1/1

Y1 - 2007/1/1

N2 - This paper presents a new set of sensor fusion algorithms for mapping the environment of mobile robots using grid maps. The algorithms use the adaptive weighted average method and consider as weights the number of times each cell was sampled by the sensor. Analysis in an indoor mobile robot experiment indicated superior performance of one of the new algorithms when compared to a previously developed adaptive fuzzy logic algorithm.

AB - This paper presents a new set of sensor fusion algorithms for mapping the environment of mobile robots using grid maps. The algorithms use the adaptive weighted average method and consider as weights the number of times each cell was sampled by the sensor. Analysis in an indoor mobile robot experiment indicated superior performance of one of the new algorithms when compared to a previously developed adaptive fuzzy logic algorithm.

KW - Algorithms

KW - Autonomous mobile robots

KW - Robotics

KW - Sensor fusion

UR - https://www.scopus.com/pages/publications/85091770908

M3 - Conference contribution

AN - SCOPUS:85091770908

T3 - MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007

SP - 43

EP - 50

BT - MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007

A2 - dos Reis, Antonio Palma

A2 - Blashki, Katherine

A2 - Xiao, Yingcai

PB - IADIS Press

T2 - 2007 IADIS International Conference on Intelligent Systems and Agents, ISA 2007, part of the 1st IADIS Multi Conference on Computer Science and Information Systems, MCCSIS 2007

Y2 - 3 July 2007 through 8 July 2007

ER -

Kapach K, Edan Y. Adaptive weighted average sensor fusion algorithms for mobile robots. In dos Reis AP, Blashki K, Xiao Y, editors, MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007. IADIS Press. 2007. p. 43-50. (MCCSIS 2007 - IADIS Multi Conference on Computer Science and Information Systems - Proceedings of Intelligent Systems and Agents 2007, Interfaces and Human Computer Interaction 2007, Computer Graphics and Visualization 2007).

Adaptive weighted average sensor fusion algorithms for mobile robots

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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