Map building of unknown environment based on fuzzy sensor fusion of ultrasonic ranging data

I. Hsum Li, Chen-Chien James Hsu, Shih Shiun Lin

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

This paper investigates the use of ranging data collected from ultrasonic sensors mounted on a two-wheeled mobile robot, Pioneer 3-DX, to build an occupancy grid map for an unknown indoor environment based on fuzzy sensor fusion of the ultrasonic ranging data. Because of uncertainties inevitably encountered by using the ultrasonic sensors, a more reliable sensor model is derived to solve the problems of angle uncertainties and multiple reflections. To address the problems due to measurement uncertainties of the ultrasonic sensors, a fuzzy logic approach is proposed to construct the grid map, where the information of the grids is continually computed and updated through fuzzy logic operations. As long as the environmental map in which every grid is represented as the fuzzy degree of occupancy is obtained, it can be used for localization or path planning to enhance the navigation autonomy of mobile robots. To validate the feasibility of the proposed approach, several experiments are conducted to build maps for various indoor environments.

Original languageEnglish
Pages (from-to)368-377
Number of pages10
JournalInternational Journal of Fuzzy Systems
Volume16
Issue number3
Publication statusPublished - 2014 Sep 1

Fingerprint

Sensor Fusion
Ultrasonic sensors
Fusion reactions
Ultrasonics
Grid
Unknown
Sensor
Sensors
Mobile Robot
Mobile robots
Fuzzy Logic
Fuzzy logic
Uncertainty
Measurement Uncertainty
Path Planning
Motion planning
Navigation
Angle
Experiment
Experiments

Keywords

  • Fuzzy logic
  • Map building
  • Navigation
  • Robot
  • Sensor fusion
  • Sensor model
  • Ultrasonic
  • Uncertainty

ASJC Scopus subject areas

  • Software
  • Theoretical Computer Science
  • Computational Theory and Mathematics
  • Artificial Intelligence

Cite this

Map building of unknown environment based on fuzzy sensor fusion of ultrasonic ranging data. / Li, I. Hsum; Hsu, Chen-Chien James; Lin, Shih Shiun.

In: International Journal of Fuzzy Systems, Vol. 16, No. 3, 01.09.2014, p. 368-377.

Research output: Contribution to journalArticle

@article{8667d6e5715a49518f3a5c991620d594,
title = "Map building of unknown environment based on fuzzy sensor fusion of ultrasonic ranging data",
abstract = "This paper investigates the use of ranging data collected from ultrasonic sensors mounted on a two-wheeled mobile robot, Pioneer 3-DX, to build an occupancy grid map for an unknown indoor environment based on fuzzy sensor fusion of the ultrasonic ranging data. Because of uncertainties inevitably encountered by using the ultrasonic sensors, a more reliable sensor model is derived to solve the problems of angle uncertainties and multiple reflections. To address the problems due to measurement uncertainties of the ultrasonic sensors, a fuzzy logic approach is proposed to construct the grid map, where the information of the grids is continually computed and updated through fuzzy logic operations. As long as the environmental map in which every grid is represented as the fuzzy degree of occupancy is obtained, it can be used for localization or path planning to enhance the navigation autonomy of mobile robots. To validate the feasibility of the proposed approach, several experiments are conducted to build maps for various indoor environments.",
keywords = "Fuzzy logic, Map building, Navigation, Robot, Sensor fusion, Sensor model, Ultrasonic, Uncertainty",
author = "Li, {I. Hsum} and Hsu, {Chen-Chien James} and Lin, {Shih Shiun}",
year = "2014",
month = "9",
day = "1",
language = "English",
volume = "16",
pages = "368--377",
journal = "International Journal of Fuzzy Systems",
issn = "1562-2479",
publisher = "Chinese Fuzzy Systems Association",
number = "3",

}

TY - JOUR

T1 - Map building of unknown environment based on fuzzy sensor fusion of ultrasonic ranging data

AU - Li, I. Hsum

AU - Hsu, Chen-Chien James

AU - Lin, Shih Shiun

PY - 2014/9/1

Y1 - 2014/9/1

N2 - This paper investigates the use of ranging data collected from ultrasonic sensors mounted on a two-wheeled mobile robot, Pioneer 3-DX, to build an occupancy grid map for an unknown indoor environment based on fuzzy sensor fusion of the ultrasonic ranging data. Because of uncertainties inevitably encountered by using the ultrasonic sensors, a more reliable sensor model is derived to solve the problems of angle uncertainties and multiple reflections. To address the problems due to measurement uncertainties of the ultrasonic sensors, a fuzzy logic approach is proposed to construct the grid map, where the information of the grids is continually computed and updated through fuzzy logic operations. As long as the environmental map in which every grid is represented as the fuzzy degree of occupancy is obtained, it can be used for localization or path planning to enhance the navigation autonomy of mobile robots. To validate the feasibility of the proposed approach, several experiments are conducted to build maps for various indoor environments.

AB - This paper investigates the use of ranging data collected from ultrasonic sensors mounted on a two-wheeled mobile robot, Pioneer 3-DX, to build an occupancy grid map for an unknown indoor environment based on fuzzy sensor fusion of the ultrasonic ranging data. Because of uncertainties inevitably encountered by using the ultrasonic sensors, a more reliable sensor model is derived to solve the problems of angle uncertainties and multiple reflections. To address the problems due to measurement uncertainties of the ultrasonic sensors, a fuzzy logic approach is proposed to construct the grid map, where the information of the grids is continually computed and updated through fuzzy logic operations. As long as the environmental map in which every grid is represented as the fuzzy degree of occupancy is obtained, it can be used for localization or path planning to enhance the navigation autonomy of mobile robots. To validate the feasibility of the proposed approach, several experiments are conducted to build maps for various indoor environments.

KW - Fuzzy logic

KW - Map building

KW - Navigation

KW - Robot

KW - Sensor fusion

KW - Sensor model

KW - Ultrasonic

KW - Uncertainty

UR - http://www.scopus.com/inward/record.url?scp=84908003758&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84908003758&partnerID=8YFLogxK

M3 - Article

VL - 16

SP - 368

EP - 377

JO - International Journal of Fuzzy Systems

JF - International Journal of Fuzzy Systems

SN - 1562-2479

IS - 3

ER -