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

I. Hsum Lee, Ming Chih Lu, Chen Chien Hsu, Shih Shiun Lin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper investigates the use of ranging data collected from ultrasonic sensors mounted on a two-wheeled mobile robot to build an occupancy grid map for an unknown indoor environment based on fuzzy sensor fusion of the ultrasonic ranging data. To address the problems due to measurement uncertainties of the ultrasonic sensors, a fuzzy sensor fusion approach is proposed to construct the grid map, where the information of the grids is continually computed and updated through fuzzy logic operations.

Original languageEnglish
Title of host publicationAdvances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress
Pages446-448
Number of pages3
DOIs
Publication statusPublished - 2012 Aug 20
EventJoint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress - Bristol, United Kingdom
Duration: 2012 Aug 202012 Aug 23

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7429 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

OtherJoint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress
CountryUnited Kingdom
CityBristol
Period12/8/2012/8/23

Keywords

  • Map building
  • fuzzy logic
  • robot
  • sensor fusion
  • sensor model
  • ultrasonic
  • uncertainty

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Lee, I. H., Lu, M. C., Hsu, C. C., & Lin, S. S. (2012). Map building of unknown environment based on fuzzy sensor fusion of ultrasonic ranging data. In Advances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress (pp. 446-448). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7429 LNAI). https://doi.org/10.1007/978-3-642-32527-4_52