DocumentCode :
1580339
Title :
Evidence Reasoning Machine based on DSmT for mobile robot mapping in unknown dynamic environment
Author :
Huang, Xinhan ; Li, Peng ; Wang, Min
Author_Institution :
Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
fYear :
2009
Firstpage :
753
Lastpage :
758
Abstract :
In this paper a new method of information fusion, Dezert-Smarandache theory (DSmT) is introduced to deal with high conflicting and uncertain information. And then the evidence reasoning machine (ERM) based on DSmT is presented for mobile robot mapping in unknown dynamic environment. Considering the characteristics of sonar sensors, the grid map method is adopted and a sonar sensor mathematical model is constructed based on DSmT. Meanwhile a few of general basic belief assignment functions (gbbaf) are constructed for fusion. Finally, map building experiment is carried out with Pioneer 2-DXe mobile robot. The experiment results testify the validity of ERM with DSmT for fusing imprecise information during map building in unknown dynamic environment.
Keywords :
case-based reasoning; mobile robots; path planning; sensor fusion; sonar signal processing; DSmT; Dezert-Smarandache theory; Pioneer 2-DXe mobile robot; evidence reasoning machine; general basic belief assignment function; grid map; information fusion; map building; mobile robot mapping; sonar sensor mathematical model; unknown dynamic environment; Buildings; Fuzzy logic; Infrared sensors; Intelligent sensors; Mobile robots; Reliability theory; Robot sensing systems; Sensor phenomena and characterization; Sonar; Uncertainty; Dezert-Smarandache Theory; Mobile robot; evidence reasoning; mapping;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
Type :
conf
DOI :
10.1109/ROBIO.2009.5420580
Filename :
5420580
Link To Document :
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