Title :
Adaptive fuzzy logic algorithm for grid-map based sensor fusion
Author :
Cohen, Ofir ; Edan, Yael
Author_Institution :
Dept. of Ind. Eng. & Manage., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
Abstract :
This paper presents an adaptive fuzzy logic algorithm for sensor fusion related to mapping the environment. The proposed algorithm deals with unknown a-priori sensory distributions and with asynchronous update of the sensors. Feedback is calculated every time, each logical sensor sends new data and is used to measure on-line the logical sensors performances. Analysis in an indoor mobile robot experiment indicated superior performance of the adaptive fuzzy logic algorithm when compared to three other sensor fusion algorithms.
Keywords :
feedback; fuzzy logic; fuzzy set theory; mobile robots; sensor fusion; statistical analysis; a-priori sensory distribution; adaptive fuzzy logic algorithm; feedback; grid map; indoor mobile robot; logical sensors; sensor fusion; statistical analysis; Feedback; Fuzzy logic; Mobile robots; Performance evaluation; Probability; Robot sensing systems; Sensor fusion; Sensor systems; Student members; Time measurement;
Conference_Titel :
Intelligent Vehicles Symposium, 2004 IEEE
Print_ISBN :
0-7803-8310-9
DOI :
10.1109/IVS.2004.1336456
