DocumentCode
420368
Title
Adaptive fuzzy logic algorithm for grid-map based sensor fusion
Author
Cohen, Ofir ; Edan, Yael
Author_Institution
Dept. of Ind. Eng. & Manage., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
fYear
2004
fDate
14-17 June 2004
Firstpage
625
Lastpage
630
Abstract
This paper presents an adaptive fuzzy logic algorithm for sensor fusion related to mapping the environment. The proposed algorithm deals with unknown a-priori sensory distributions and with asynchronous update of the sensors. Feedback is calculated every time, each logical sensor sends new data and is used to measure on-line the logical sensors performances. Analysis in an indoor mobile robot experiment indicated superior performance of the adaptive fuzzy logic algorithm when compared to three other sensor fusion algorithms.
Keywords
feedback; fuzzy logic; fuzzy set theory; mobile robots; sensor fusion; statistical analysis; a-priori sensory distribution; adaptive fuzzy logic algorithm; feedback; grid map; indoor mobile robot; logical sensors; sensor fusion; statistical analysis; Feedback; Fuzzy logic; Mobile robots; Performance evaluation; Probability; Robot sensing systems; Sensor fusion; Sensor systems; Student members; Time measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Vehicles Symposium, 2004 IEEE
Print_ISBN
0-7803-8310-9
Type
conf
DOI
10.1109/IVS.2004.1336456
Filename
1336456
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