Accurate position estimation is required for mobile robot navigation. To estimate current position mobile robot uses sensors. As one sensor system is insufficient to estimate accurately, it is necessary to use sensor fusion method. Mobile robot can obtain redundant and complementary information by using sensor fusion method. So it is possible to estimate current position more accurately than one sensor system.
Sensor fusion system is composed of vision sensor, ultrasonic sensors and encoder trailer. Three different sensors are controlled by personal computer and interface board. Weighted sum method using characteristics of corridor is proposed for sensor fusion. The validity of proposed sensor fusion method is proved by experimental result in corridor environment.
