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

Young Chul Kim; Sung Bae Cho; Sang Rok Oh

doi:10.1007/3-540-45631-7_6

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

Young Chul Kim, Sung Bae Cho, Sang Rok Oh

Department of Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 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 language	English
Title of host publication	Advances in Soft Computing - AFSS 2002 - 2002 AFSS International Conference on Fuzzy Systems, Proceedings
Editors	Nikhil R. Pal, Michio Sugeno
Publisher	Springer Verlag
Pages	40-46
Number of pages	7
ISBN (Print)	9783540431503
DOIs	https://doi.org/10.1007/3-540-45631-7_6
Publication status	Published - 2002
Event	5th International Conference on Asian Fuzzy Systems Society, AFSS 2002 - Calcutta, India Duration: 2002 Feb 3 → 2002 Feb 6

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	2275
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	5th International Conference on Asian Fuzzy Systems Society, AFSS 2002
Country	India
City	Calcutta
Period	02/2/3 → 02/2/6

Bibliographical note

Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 2002.

All Science Journal Classification (ASJC) codes

Theoretical Computer Science
Computer Science(all)

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10.1007/3-540-45631-7_6

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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

Kim, Young Chul ; Cho, Sung Bae ; Oh, Sang Rok. / The Dempster-Shafer approach to map-building for an autonomous mobile robot with fuzzy controller. Advances in Soft Computing - AFSS 2002 - 2002 AFSS International Conference on Fuzzy Systems, Proceedings. editor / Nikhil R. Pal ; Michio Sugeno. Springer Verlag, 2002. pp. 40-46 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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Kim, YC, Cho, SB & Oh, SR 2002, The Dempster-Shafer approach to map-building for an autonomous mobile robot with fuzzy controller. in NR Pal & M Sugeno (eds), Advances in Soft Computing - AFSS 2002 - 2002 AFSS International Conference on Fuzzy Systems, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 2275, Springer Verlag, pp. 40-46, 5th International Conference on Asian Fuzzy Systems Society, AFSS 2002, Calcutta, India, 02/2/3. https://doi.org/10.1007/3-540-45631-7_6

The Dempster-Shafer approach to map-building for an autonomous mobile robot with fuzzy controller. / Kim, Young Chul; Cho, Sung Bae; Oh, Sang Rok.

Advances in Soft Computing - AFSS 2002 - 2002 AFSS International Conference on Fuzzy Systems, Proceedings. ed. / Nikhil R. Pal; Michio Sugeno. Springer Verlag, 2002. p. 40-46 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2275).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - 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.

AB - 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.

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Kim YC, Cho SB, Oh SR. The Dempster-Shafer approach to map-building for an autonomous mobile robot with fuzzy controller. In Pal NR, Sugeno M, editors, Advances in Soft Computing - AFSS 2002 - 2002 AFSS International Conference on Fuzzy Systems, Proceedings. Springer Verlag. 2002. p. 40-46. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/3-540-45631-7_6

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

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