Abstract
Robot sensing requires two types of observation – intensive and wide-angle. We selected multiple ultrasonic sensors for intensive observation and an image sensor for wide-angle observation in measuring a moving object’s motion with sensors in two kinds of fusion – one fusing multiple ultrasonic sensor data and the other fusing the two types of sensor data. The fusion of multiple ultrasonic sensor data takes advantage of object movement from a measurement range of an ultrasonic sensor to another sensor’s range. They are formulated in a Kalman filter framework. Simulation and experiments demonstrate the effectiveness and applicability to an actual robot system.
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