Paper Info
Title
The Dempster-Shafer Approach to Map-Building for an Autonomous Mobile Robot with Fuzzy Controller
Abstract
This paper develops a sensor based navigation method that utilizes fuzzy logic and the Dempster-Shafer evidential theory for mobile robot in uncertain environment. The proposed navigator consists of two behaviors: Obstacle avoidance and goal seeking. To navigate reliably in the environment, we facilitate a map building process before the robot finds a goal position and create a robust fuzzy controller. In this work, the map is constructed on two-dimensional occupancy grids. The sensor values are fused into the map using the Dempster-Shafer inference rule. Whenever the robot moves, it catches new information about the environment and replaces the old map with new one. With that process the robot can wander and find the goal position. The usefulness of the proposed method is verified by a series of simulations.
Year
DOI
Venue
2002
10.1007/3-540-45631-7_6
AFSS
Keywords
Field
DocType
autonomous mobile robot,fuzzy logic,dempster-shafer inference rule,mobile robot,navigation method,old map,map building process,dempster-shafer evidential theory,robot move,fuzzy controller,uncertain environment,goal position,dempster-shafer approach,obstacle avoidance,inference rule,occupancy grid,dempster shafer
Obstacle avoidance,Social robot,Computer vision,Robot control,Goal seeking,Computer science,Fuzzy logic,Artificial intelligence,Fuzzy control system,Mobile robot navigation,Machine learning,Mobile robot
Conference
ISBN
Citations 
PageRank 
3-540-43150-0
1
0.42
References 
Authors
7
3
Name
Order
Citations
PageRank
Youngchul Kim19221.26
Sung-Bae Cho22875265.52
Sang-Rok Oh337360.95