The Dempster-Shafer approach to map-building for an autonomous mobile robot with fuzzy controller

Young Chul Kim, Sung Bae Cho, Sang Rok Oh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationAdvances in Soft Computing - AFSS 2002 - 2002 AFSS International Conference on Fuzzy Systems, Proceedings
EditorsNikhil R. Pal, Michio Sugeno
PublisherSpringer Verlag
Pages40-46
Number of pages7
ISBN (Print)9783540431503
DOIs
Publication statusPublished - 2002
Event5th International Conference on Asian Fuzzy Systems Society, AFSS 2002 - Calcutta, India
Duration: 2002 Feb 32002 Feb 6

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2275
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other5th International Conference on Asian Fuzzy Systems Society, AFSS 2002
CountryIndia
CityCalcutta
Period02/2/302/2/6

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Kim, Y. C., Cho, S. B., & Oh, S. R. (2002). The Dempster-Shafer approach to map-building for an autonomous mobile robot with fuzzy controller. In N. R. Pal, & M. Sugeno (Eds.), Advances in Soft Computing - AFSS 2002 - 2002 AFSS International Conference on Fuzzy Systems, Proceedings (pp. 40-46). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2275). Springer Verlag. https://doi.org/10.1007/3-540-45631-7_6