@inproceedings{50bdca2f469d4fd2a03e67d8132f2d45,
title = "The Dempster-Shafer approach to map-building for an autonomous mobile robot with fuzzy controller",
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.",
author = "Kim, {Young Chul} and Cho, {Sung Bae} and Oh, {Sang Rok}",
year = "2002",
doi = "10.1007/3-540-45631-7_6",
language = "English",
isbn = "9783540431503",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "40--46",
editor = "Pal, {Nikhil R.} and Michio Sugeno",
booktitle = "Advances in Soft Computing - AFSS 2002 - 2002 AFSS International Conference on Fuzzy Systems, Proceedings",
address = "Germany",
note = "5th International Conference on Asian Fuzzy Systems Society, AFSS 2002 ; Conference date: 03-02-2002 Through 06-02-2002",
}