Proceedings of the 4th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering 2015

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
https://doi.org/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.
Open Access
This is an open access article distributed under the CC BY-NC license.

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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  - https://doi.org/10.2991/icmmcce-15.2015.349
ID  - Zhu2015/12
ER  -