Ultrasound and visual sensor feedback and fusion

The HERMIES-IIB mobile robot developed at Oak Ridge National Laboratory's (ORNL's) Center for Engineering Systems Advanced Research was designed to carry out autonomous sensing, navigation and manipulation tasks in an unstructured laboratory environment. In this paper we report on the use of sensor feedback and sensor fusion as means of compensating for HERMIES-IIB sensor and mechanical errors, uncertainties and limitations. 7 refs., 9 figs.