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

淡江大學機構典藏 > 工學院 > 機械與機電工程學系暨研究所 > 期刊論文 > Item 987654321/115958

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题名:	Map building of unknown environment based on fuzzy sensor fusion of ultrasonic ranging data
作者:	Li, I. H.;Hsu, C.C.;Lin, S.S.
关键词:	Navigation;Robots;Ultrasonics
日期:	2014-09
上传时间:	2019-03-14 12:10:17 (UTC+8)
出版者:	Springer
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.
關聯:	International Journal of Fuzzy Systems 16(3), p.368-377
显示于类别:	[機械與機電工程學系暨研究所] 期刊論文

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