The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Optimizing range finder sensor network coverage

João Ferreira
Instituto Superior Técnico
Portugal

Alberto Vale
Instituto Superior Técnico
Portugal

Rodrigo Ventura
Instituto Superior Técnico
Portugal

Abstract:
This document states a method to optimize the coverage of a range finder multisensor network on an indoor environment. The problem arose from the need of a localization system for autonomous mobile robots, integrated with the building. The common approach for a localization system consists on sensors in the vehicle itself. In this case the vehicle is only an actuator and the sensory part is installed on the building. The localization system performance depends on the sensor placement, to enhance it, the sensor network must maximize the covered area. To solve the problem, an algorithm that maximizes the coverage areas is proposed. Given a scenario map, obtains the optimal coverage area multisensor placement. This paper presents also some results and proposals to future approaches to the problem.

 

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