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 |
| Publication status | Published - 2002 Jan 1 |
| 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 |
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All Science Journal Classification (ASJC) codes
- Computer Science(all)
- Theoretical Computer Science
Cite this
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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
TY - GEN
T1 - The Dempster-Shafer approach to map-building for an autonomous mobile robot with fuzzy controller
AU - Kim, Young Chul
AU - Cho, Sung-Bae
AU - Oh, Sang Rok
PY - 2002/1/1
Y1 - 2002/1/1
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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UR - http://www.scopus.com/inward/citedby.url?scp=84945309355&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9783540431503
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 40
EP - 46
BT - Advances in Soft Computing - AFSS 2002 - 2002 AFSS International Conference on Fuzzy Systems, Proceedings
A2 - Pal, Nikhil R.
A2 - Sugeno, Michio
PB - Springer Verlag
ER -