1 March 1991 Multiagent collaboration for experimental calibration of an autonomous mobile robot
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Abstract
This paper presents an action in mission SOCRATES whose aim is the development of a self-calibration method for an autonomous mobile robot. The robot has to determine the precise location of the coordinate system shared by its sensors. Knowledge of this system is a sine qua non condition for efficient multisensor fusion and autonomous navigation in an unknown environment. But, as perceptions and motions are not accurate, this knowledge can only be achieved by multisensor fusion. The application described highlights this kind of problem. Multisensor fusion is used here especially in its symbolic aspect. Useful knowledge includes both numerous data coming from various sensors and suitable ways to process these data. A blackboard architecture has been chosen to manage useful information. Knowledge sources are called agents and the implement physical sensors (perceptors or actuators) as well as logical sensors (high level data processors). The problem to solve is self- calibration which includes the determination of the coordinate system R of the robot and the transformations necessary to convert data from sensor reference to R. The origin of R has been chosen to be O, the rotation center of the robot. As its genuine location may vary due to robot or ground characteristics, an experimental determination of O is attempted. A strategy for measuring distances in approximate positions is proposed. This strategy must take into account the fact that motions of the robot as well as perceptions may be inaccurate. Results obtained during experiments and future extensions of the system are discussed.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Bertrand Vachon, Bertrand Vachon, Veronique Berge-Cherfaoui, Veronique Berge-Cherfaoui, } "Multiagent collaboration for experimental calibration of an autonomous mobile robot", Proc. SPIE 1468, Applications of Artificial Intelligence IX, (1 March 1991); doi: 10.1117/12.45491; https://doi.org/10.1117/12.45491
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