Title :
DSmT Coupling with PCR5 for Mobile Robot´s Map Reconstruction
Author :
Li, Xinde ; Huang, Xinhan ; Wang, Min ; Xu, Jiansheng ; Zhang, Hongbo
Author_Institution :
Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan
Abstract :
In this paper, considering the information fusion of multi-sensors on mobile robot, a new tool (the fusion machine of DSmT (Dezert-Smarandache theory) coupling with PCR5 (proportional conflict redistribution rule)) is applied to autonomous mobile robot´s map reconstruction from 16 sonar rangefinders. According to the physical characteristics of sonar rangefinder, general basic belief assignment functions are constructed respectively. By comparing the result of map reconstruction with this new tool from other approaches (i.e. probability, fuzzy, DST), when a virtual mobile robot evolves in the virtual environment with obstacles, we can adequately testify that the new tool owns better performance to rebuild map and even can solve the challenging SLAM problem more effectively
Keywords :
mobile robots; path planning; sensor fusion; telerobotics; Dezert-Smarandache theory; autonomous mobile robot; information fusion; map reconstruction; proportional conflict redistribution rule; sonar rangefinders; Arithmetic; Intelligent sensors; Mechatronics; Mobile robots; Proportional control; Robotics and automation; Simultaneous localization and mapping; Sonar applications; Testing; Virtual environment; DSmT; Information Fusion; Map Reconstruction; Mobile Robot; PCR;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257742
