Comparison of two methods for fusing information from a linear array of sonar sensors for obstacle localization
Arikan Orhan, Barshan Billur
IEEE International Conference on Intelligent Robots and Systems
IEEE, Piscataway, NJ, United States
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Please cite this item using this persistent URLhttp://hdl.handle.net/11693/27761
The performance of a commonly employed linear array of sonar sensors is assessed for point-obstacle localization intended for robotics applications. Two different methods of combining time-of-flight information from the sensors are described to estimate the range and azimuth of the obstacle: pairwise estimate method and the maximum likelihood estimator. The variances of the methods are compared to the Cramer-Rao Lower Bound, and their biases are investigated. Simulation studies indicate that in estimating range, both methods perform comparably; in estimating azimuth, maximum likelihood estimate is superior at a cost of extra computation. The results are useful for target localization in mobile robotics.
- Conference Paper 2294