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

I. Hsum Li, Chen Chien Hsu*, Shih Shiun Lin

*此作品的通信作者

研究成果: 雜誌貢獻期刊論文同行評審

7 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
頁(從 - 到)368-377
頁數10
期刊International Journal of Fuzzy Systems
16
發行號3
出版狀態已發佈 - 2014 九月 1

ASJC Scopus subject areas

  • 軟體
  • 理論電腦科學
  • 計算機理論與數學
  • 人工智慧

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