An adaptive fuzzy-logic procedure for ranking logical sensory performance

Multiple sensors are necessary for mobile robot operation in unknown environments. The multitude of sensors must be fused. For reliable fusion it is important to determine the performance of each sensor. A sensor ranking procedure based on an adaptive fuzzy logic algorithm for sensor fusion was developed. The procedure assumes unknown a-priori sensory performance and ranks the sensors according to their noise rates. The ranking procedure and its analysis are presented in this paper.