To learn the environment using multisensory information, we need both an accurate sensor model and a reasonable sensor fusion methodology. Ultrasonic sensors provide good range information. However, uncertainties in ultrasonic sensors caused by the specular reflection from environments make them less attractive. We have used the Dempster-Shafer evidence method in sensor fusion with the specially designed sensor model. By applying a filtering factor to the sensor model, uncertainties in sonar responses can be successfully reduced. In this paper, we introduce a novel way of using the conflict value in Dempster-Shafer evidence theory in the sensor model. Through this new method, our robot would be able to modify its sensor model dynamically during its navigation. Experimental results have shown that the new method has improved the performance of the modified ultrasonic sensor model in dealing with specular reflections.


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    Title :

    Multi-ultrasonic sensor fusion for mobile robots


    Contributors:


    Publication date :

    2000-01-01


    Size :

    420361 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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