Grid Map Building Based on D-S Evidence Theory

A method of constructing a grid map using ultrasonic sensors based on Dempster-Shafer evidence theory (D-S evidence theory) is proposed with respect to the problem of unstructured unknown environment mapping. Mobile robot explores environment with ultrasonic sensors. D-S evidence theory is used to fuse multi-sensor information. The problem that D-S evidence theory can´t be applied to information fusion under certain circumstances and the matter that D-S evidence theory have counter-intuitive behaviors in some cases are discussed. An approximate process algorithm is advanced to avoid above problems. Finally, A two-dimensional grid map is built and a way of evaluating the environment and environment exploration effect is suggested. Simulation result shows that this method is appropriate for unstructured unknown environment mapping.