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 en
ISSN
期刊性質 國外
收錄於 SCI
產學合作
通訊作者
審稿制度 是
國別 DEU
公開徵稿
出版型式 ,電子版
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/115958 )

SDGS 產業創新與基礎設施