Real-Time Sonar Fusion for Layered Navigation Controller
Navigation in varied and dynamic indoor environments remains a complex task for autonomous mobile platforms. Especially when conditions worsen, typical sensor modalities may fail to operate optimally and subsequently provide inapt input for safe navigation control. In this study, we present an appro...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-04-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/9/3109 |
| _version_ | 1827671544565858304 |
|---|---|
| author | Wouter Jansen Dennis Laurijssen Jan Steckel |
| author_facet | Wouter Jansen Dennis Laurijssen Jan Steckel |
| author_sort | Wouter Jansen |
| collection | DOAJ |
| description | Navigation in varied and dynamic indoor environments remains a complex task for autonomous mobile platforms. Especially when conditions worsen, typical sensor modalities may fail to operate optimally and subsequently provide inapt input for safe navigation control. In this study, we present an approach for the navigation of a dynamic indoor environment with a mobile platform with a single or several sonar sensors using a layered control system. These sensors can operate in conditions such as rain, fog, dust, or dirt. The different control layers, such as collision avoidance and corridor following behavior, are activated based on acoustic flow queues in the fusion of the sonar images. The novelty of this work is allowing these sensors to be freely positioned on the mobile platform and providing the framework for designing the optimal navigational outcome based on a zoning system around the mobile platform. Presented in this paper is the acoustic flow model used, as well as the design of the layered controller. Next to validation in simulation, an implementation is presented and validated in a real office environment using a real mobile platform with one, two, or three sonar sensors in real time with 2D navigation. Multiple sensor layouts were validated in both the simulation and real experiments to demonstrate that the modular approach for the controller and sensor fusion works optimally. The results of this work show stable and safe navigation of indoor environments with dynamic objects. |
| first_indexed | 2024-03-10T03:44:20Z |
| format | Article |
| id | doaj.art-dac13a0f5c5b41d2ab6328016b83a436 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:44:20Z |
| publishDate | 2022-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-dac13a0f5c5b41d2ab6328016b83a4362023-11-23T09:13:33ZengMDPI AGSensors1424-82202022-04-01229310910.3390/s22093109Real-Time Sonar Fusion for Layered Navigation ControllerWouter Jansen0Dennis Laurijssen1Jan Steckel2Cosys-Lab, Faculty of Applied Engineering, University of Antwerp, 2020 Antwerpen, BelgiumCosys-Lab, Faculty of Applied Engineering, University of Antwerp, 2020 Antwerpen, BelgiumCosys-Lab, Faculty of Applied Engineering, University of Antwerp, 2020 Antwerpen, BelgiumNavigation in varied and dynamic indoor environments remains a complex task for autonomous mobile platforms. Especially when conditions worsen, typical sensor modalities may fail to operate optimally and subsequently provide inapt input for safe navigation control. In this study, we present an approach for the navigation of a dynamic indoor environment with a mobile platform with a single or several sonar sensors using a layered control system. These sensors can operate in conditions such as rain, fog, dust, or dirt. The different control layers, such as collision avoidance and corridor following behavior, are activated based on acoustic flow queues in the fusion of the sonar images. The novelty of this work is allowing these sensors to be freely positioned on the mobile platform and providing the framework for designing the optimal navigational outcome based on a zoning system around the mobile platform. Presented in this paper is the acoustic flow model used, as well as the design of the layered controller. Next to validation in simulation, an implementation is presented and validated in a real office environment using a real mobile platform with one, two, or three sonar sensors in real time with 2D navigation. Multiple sensor layouts were validated in both the simulation and real experiments to demonstrate that the modular approach for the controller and sensor fusion works optimally. The results of this work show stable and safe navigation of indoor environments with dynamic objects.https://www.mdpi.com/1424-8220/22/9/3109sonarvehicle controlbiologically-inspiredroboticssensor fusionindoor navigation |
| spellingShingle | Wouter Jansen Dennis Laurijssen Jan Steckel Real-Time Sonar Fusion for Layered Navigation Controller Sensors sonar vehicle control biologically-inspired robotics sensor fusion indoor navigation |
| title | Real-Time Sonar Fusion for Layered Navigation Controller |
| title_full | Real-Time Sonar Fusion for Layered Navigation Controller |
| title_fullStr | Real-Time Sonar Fusion for Layered Navigation Controller |
| title_full_unstemmed | Real-Time Sonar Fusion for Layered Navigation Controller |
| title_short | Real-Time Sonar Fusion for Layered Navigation Controller |
| title_sort | real time sonar fusion for layered navigation controller |
| topic | sonar vehicle control biologically-inspired robotics sensor fusion indoor navigation |
| url | https://www.mdpi.com/1424-8220/22/9/3109 |
| work_keys_str_mv | AT wouterjansen realtimesonarfusionforlayerednavigationcontroller AT dennislaurijssen realtimesonarfusionforlayerednavigationcontroller AT jansteckel realtimesonarfusionforlayerednavigationcontroller |