Map Building Method Based On Improved D-S Evidence Theory For Mobile Robot
Authors
Lei Zhu, Jiang Guo, Jinsong Yang, Mingdong Shao, Jiming Sun, Dapeng Gong, Hongyu QI
Corresponding Author
Lei Zhu
Available Online December 2015.
- DOI
- 10.2991/icmmcce-15.2015.349How to use a DOI?
- Keywords
- Ultrasonic sensor model; D-S evidence theory; Counter-intuitive behaviors; Map building
- Abstract
Focusing on the uncertainty of the environment, a grid map building method based on the multi ultrasonic sensors is provided. Firstly, the single ultrasonic sensor grid model is constructed by dividing the detected area into three regions. Then the evidences which are needed to fuse are self-adaptively approximate in order to remove the counter-intuitive behaviors. Finally, the unknown environment map is built by using the D-S evidence theory to fuse the approximate evidence. Aiming at proving the method is right, the simulation is carried out in Matlab. The simulation result shows that the method is valid in unknown environment map building.
- 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/).
Cite this article
TY - CONF AU - Lei Zhu AU - Jiang Guo AU - Jinsong Yang AU - Mingdong Shao AU - Jiming Sun AU - Dapeng Gong AU - Hongyu QI PY - 2015/12 DA - 2015/12 TI - Map Building Method Based On Improved D-S Evidence Theory For Mobile Robot BT - Proceedings of the 4th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering 2015 PB - Atlantis Press SN - 2352-538X UR - https://doi.org/10.2991/icmmcce-15.2015.349 DO - 10.2991/icmmcce-15.2015.349 ID - Zhu2015/12 ER -