教師資料查詢 | 類別: 期刊論文 | 教師: 李宜勳 LI, I-HSUN (瀏覽個人網頁)

標題:Map building of unknown environment based on fuzzy sensor fusion of ultrasonic ranging data
學年103
學期1
出版(發表)日期2014/09/01
作品名稱Map building of unknown environment based on fuzzy sensor fusion of ultrasonic ranging data
作品名稱(其他語言)
著者I. H. Li; C.C. Hsu; S.S. Lin
單位
出版者
著錄名稱、卷期、頁數International Journal of Fuzzy Systems 16(3), p.368-377
摘要This paper investigates the use of ranging data collected from ultrasonic sensors mounted on a two-wheeled mobile robot, Pioneer 3-DX, to build an occupancy grid map for an unknown indoor environment based on fuzzy sensor fusion of the ultrasonic ranging data. Because of uncertainties inevitably encountered by using the ultrasonic sensors, a more reliable sensor model is derived to solve the problems of angle uncertainties and multiple reflections. To address the problems due to measurement uncertainties of the ultrasonic sensors, a fuzzy logic approach is proposed to construct the grid map, where the information of the grids is continually computed and updated through fuzzy logic operations. As long as the environmental map in which every grid is represented as the fuzzy degree of occupancy is obtained, it can be used for localization or path planning to enhance the navigation autonomy of mobile robots. To validate the feasibility of the proposed approach, several experiments are conducted to build maps for various indoor environments.
關鍵字Navigation;Robots;Ultrasonics
語言英文
ISSN
期刊性質國外
收錄於SCI;
產學合作
通訊作者
審稿制度
國別德國
公開徵稿
出版型式,電子版
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