Paper Info
Title
Improved Fusion Machine Based on T-norm Operators for Robot Perception
Abstract
Map reconstruction for autonomous mobile robots navigation needs to deal with uncertainties, imprecisions and even imperfections due to the limited sensors quality and knowledge acquisition. An improved fusion machine is proposed by replacing the classical conjunctive operator with T-norm operator in Dezert-Smarandache Theory (DSmT)framework for building grid map using noisy sonar measurements. An experiment using a Pioneer II mobile robot with 16 sonar detectors on board is done in a small indoor environment, and a 2D Map is built online with our self-developing software platform. A quantitative comparison of the results of our new method for map reconstruction with respect to the classical fusion machine is proposed. We show how the new approach developed in this work outperforms the classical one.
Year
DOI
Venue
2009
10.1109/FSKD.2009.188
FSKD (4)
Keywords
Field
DocType
noisy sonar measurement,improved fusion machine,t-norm operator,autonomous mobile robots navigation,t-norm operators,classical fusion machine,classical conjunctive operator,new approach,map reconstruction,robot perception,new method,pioneer ii mobile robot,robot kinematics,path planning,sonar,mobile robot,sensor fusion,fuzzy set theory,mobile robots,grid map
Motion planning,Computer vision,Grid reference,Computer science,Robot kinematics,Sonar,Sensor fusion,Software,Artificial intelligence,Sonar signal processing,Mobile robot
Conference
Citations 
PageRank 
References 
0
0.34
5
Authors
3
Name
Order
Citations
PageRank
Xinde Li15011.00
Xianzhong Dai220525.27
Jean Dezert377761.59