Framework of Sensor Fusion Network for an Inverted Pendulum Mobile Robot KoRo

Abstract

In this study, a framework of fusion network with several sensors for an inverted pendulum mobile robot is investigated by developing various services as a campus robot in our university. Several devices has been equipped on the robot for sensors as detecting obstacles, walls, human body, boundary of the ground and so on. In order to implement an algorithm for safety to drive, a framework of sensor fusion network realized by RT-middleware components is explained. As one of example, we show an experimental result using the framework on the campus event.