Journal of Artificial Intelligence, Machine Learning and Soft Computing

Abstract

One of the most important tasks of an autonomous system of any kind is to acquire knowledge about its environment. This is done by taking measurements using various sensors and then extracting meaningful information from those measurements. In this paper, we present the most common sensors used in mobile robots, classify them, and then discuss strategies for extracting information from the sensors. Sensors can be classified on the basis of two important functional categories: proprioceptive/exteroceptive and passive/active. Proprioceptive sensors are involved in measurement of values that are internal to the system (robot); such as motor speed, wheel load, robot arm joint angles, battery voltage. Exteroceptive sensors get information from a robot’s environment; including, sound amplitude, intensity of light, distance measurements, etc

Keywords: Sensors in Autonomous Systems, Multi-sensor Systems, Exteroceptive Sensors