Multi-ultrasonic-sensor grid map building based on D-S evidence theory

A method of constructing and maintaining a grid map using ultrasonic sensors based on Dempster-Shafer evidence theory (D-S evidence theory) is proposed with respect to the problem of unstructured unknown environment exploration and mapping. Mobile robot moving in an environment explores with ultrasonic sensors; D-S evidence theory is used to fuse information; The problem that D-S evidence theory can´t be applied to information fusion under certain circumstances and the matter that D-S evidence theory have counter-intuitive behaviors in some cases are discussed; An approximate process algorithm is advanced to avoid above problems; Finally, a two-dimensional grid map is built. Application result shows that this method is appropriate for unstructured unknown environment mapping.