DSmT Coupling with PCR5 for Mobile Robot´s Map Reconstruction

Author

Li, Xinde ; Huang, Xinhan ; Wang, Min ; Xu, Jiansheng ; Zhang, Hongbo

Author_Institution

Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan

fYear

2006

fDate

25-28 June 2006

Firstpage

887

Lastpage

892

Abstract

In this paper, considering the information fusion of multi-sensors on mobile robot, a new tool (the fusion machine of DSmT (Dezert-Smarandache theory) coupling with PCR5 (proportional conflict redistribution rule)) is applied to autonomous mobile robot´s map reconstruction from 16 sonar rangefinders. According to the physical characteristics of sonar rangefinder, general basic belief assignment functions are constructed respectively. By comparing the result of map reconstruction with this new tool from other approaches (i.e. probability, fuzzy, DST), when a virtual mobile robot evolves in the virtual environment with obstacles, we can adequately testify that the new tool owns better performance to rebuild map and even can solve the challenging SLAM problem more effectively

Keywords

mobile robots; path planning; sensor fusion; telerobotics; Dezert-Smarandache theory; autonomous mobile robot; information fusion; map reconstruction; proportional conflict redistribution rule; sonar rangefinders; Arithmetic; Intelligent sensors; Mechatronics; Mobile robots; Proportional control; Robotics and automation; Simultaneous localization and mapping; Sonar applications; Testing; Virtual environment; DSmT; Information Fusion; Map Reconstruction; Mobile Robot; PCR;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257742

Filename

4026202