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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Zou Yi Ho Yeong Khing Chua Chin Seng Zhou Xiao Wei |
| Copyright Year | 2000 |
| Description | Author affiliation: Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore (Zou Yi) |
| Abstract | 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. |
| Starting Page | 387 |
| Ending Page | 391 |
| File Size | 420361 |
| Page Count | 5 |
| File Format | |
| ISBN | 0780363639 |
| DOI | 10.1109/IVS.2000.898374 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2000-10-05 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Sensor fusion Mobile robots Optical reflection Robot sensing systems Bayesian methods Uncertainty Sonar navigation Intelligent sensors Path planning Intelligent vehicles |
| Content Type | Text |
| Resource Type | Article |
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