Fuzzy Sensor Fusion and Curve Approximation for indoor Map Building

DOI

10.2991/aiie-15.2015.148How to use a DOI?

Keywords

sensor fusion; fuzzy system; mobile robot; map building

Abstract

This study uses a wheeled mobile robot to explore unknown indoor environment and build up a map of the unknown environment. The robot utilizes ultrasonic and infrared sensors with indoor positioning system to detect obstacles and identify unknown environment. Fuzzy system and sensor fusionare applied to control design. The proposed scheme can control the wheeled mobile robot move along walls and avoid obstacles. Angle and distance of the wheeled mobile robot are used to obtain the path trajectory. With sensed data of obstructions and walls, a map of unknown environment can be generated by curve fitting methods. The map building scheme is tested in different terrains and the experiments confirm that the proposed scheme works properly.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - J.G. Juang
AU  - Y.C. Yang
PY  - 2015/07
DA  - 2015/07
TI  - Fuzzy Sensor Fusion and Curve Approximation for indoor Map Building
BT  - Proceedings of the 2015 International Conference on Artificial Intelligence and Industrial Engineering
PB  - Atlantis Press
SP  - 554
EP  - 557
SN  - 1951-6851
UR  - https://doi.org/10.2991/aiie-15.2015.148
DO  - 10.2991/aiie-15.2015.148
ID  - Juang2015/07
ER  -