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Map Building of Unknown Environment Based on Fuzzy Sensor Fusion of Ultrasonic Ranging Data

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Advances in Autonomous Robotics (TAROS 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7429))

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Abstract

This paper investigates the use of ranging data collected from ultrasonic sensors mounted on a two-wheeled mobile robot to build an occupancy grid map for an unknown indoor environment based on fuzzy sensor fusion of the ultrasonic ranging data. To address the problems due to measurement uncertainties of the ultrasonic sensors, a fuzzy sensor fusion approach is proposed to construct the grid map, where the information of the grids is continually computed and updated through fuzzy logic operations.

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References

  1. Oriolo, G., Ulivi, G.: Real Time Map Building and Navigation for Autonomous Robots in Unknown Environments. IEEE Transactions on Systems, Man and Cybernetics 28(3), 316–332 (1998)

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  2. Gasos, J., Martin, A.: A fuzzy approach to build sonar maps for mobile robots. Computers in Industry 32(2), 151–167 (1996)

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  3. Kao, L.J., Sandnes, F.E., Huang, Y.P., Hsiao, M.J.: Fuzzy Environment Mapping for Robot Navigation Based on Grid Computing. In: Proceedings of IEEE International Conference on Systems Man and Cybernetics, pp. 3205–3210 (2010)

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Author information

Authors and Affiliations

  1. Department of InformationTechnology, Lee-Ming Institute of Technology, 2-2, Lijuan Rd., Taishan, Taipei, Taiwan

    I-Hsum Lee

  2. Department of Electronic Engineering, St. John’s University, 499 Tam-King Rd., Sec. 4, Tamsui, Taipei, Taiwan

    Ming-Chih Lu

  3. Department of Applied Electronics Technology, National Taiwan Normal University, 162 He-Ping East Rd., Sec. 1, Taipei, Taiwan

    Chen-Chien Hsu & Shih-Shiun Lin

Authors
  1. I-Hsum Lee
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  2. Ming-Chih Lu
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  3. Chen-Chien Hsu
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  4. Shih-Shiun Lin
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering and Bristol Robotics Laboratory, University of Bristol, Bristol, UK

    Guido Herrmann

  2. Intelligent Autonomous Systems Lab Faculty of Computing, Engineering & Mathematical Sciences, University of the West of England, BS16 1QY, Bristol, U.K.

    Matthew Studley

  3. University of the West of England, BS34 8QZ, Bristol, UK

    Martin Pearson , Andrew Conn  & Chris Melhuish ,  & 

  4. Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, SW7 2BT, London, UK

    Mark Witkowski

  5. Robot Intelligence Technology Laboratory, Department of EECS, KAIST, Daejeon, Korea

    Jong-Hwan Kim

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

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© 2012 Springer-Verlag Berlin Heidelberg

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Lee, IH., Lu, MC., Hsu, CC., Lin, SS. (2012). Map Building of Unknown Environment Based on Fuzzy Sensor Fusion of Ultrasonic Ranging Data. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_52

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  • DOI: https://doi.org/10.1007/978-3-642-32527-4_52

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32526-7

  • Online ISBN: 978-3-642-32527-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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