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Real-Time Sonar Fusion for Layered Navigation Controller.

Wouter Jansen1,2, Dennis Laurijssen1,2, Jan Steckel1,2

  • 1Cosys-Lab, Faculty of Applied Engineering, University of Antwerp, 2020 Antwerpen, Belgium.

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Summary
This summary is machine-generated.

This study introduces a layered control system using sonar sensors for robust autonomous mobile platform navigation in dynamic indoor environments, even in poor conditions. The approach ensures stable and safe navigation by fusing acoustic flow data for adaptive control behaviors.

Keywords:
biologically-inspiredindoor navigationroboticssensor fusionsonarvehicle control

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Area of Science:

  • Robotics
  • Autonomous Systems
  • Sensor Fusion

Background:

  • Navigating dynamic indoor environments is challenging for autonomous mobile platforms.
  • Traditional sensors can fail in adverse conditions like rain, fog, or dust, compromising navigation safety.
  • Robust sensor modalities are needed for reliable operation.

Purpose of the Study:

  • To develop and validate a navigation approach for mobile platforms in dynamic indoor environments using sonar sensors.
  • To implement a layered control system adaptable to varying environmental conditions.
  • To demonstrate the effectiveness of freely positionable sonar sensors and a zoning system for optimal navigation.

Main Methods:

  • A layered control system utilizing acoustic flow queues from fused sonar images.
  • A novel framework allowing flexible sonar sensor positioning and a zoning system for navigation.
  • Real-time 2D navigation validation in simulation and a physical office environment with 1-3 sonar sensors.

Main Results:

  • Stable and safe navigation was achieved in dynamic indoor environments with moving objects.
  • The modular approach for controller design and sensor fusion proved effective across multiple sensor configurations.
  • Sonar sensors demonstrated reliable performance in conditions that could challenge other modalities.

Conclusions:

  • The proposed sonar-based layered control system offers a reliable solution for autonomous navigation in challenging indoor settings.
  • The flexible sensor placement and fusion framework enhance navigational adaptability and safety.
  • This approach provides a foundation for developing more resilient autonomous mobile platforms.