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Reviewed article

Robot Map Building From Sonar Sensors and DSmT

Xinde Li, Xinhan HUANG, Min WANG
How to cite:
Xinde Li, Xinhan HUANG, Min WANG
"Robot Map Building From Sonar Sensors and DSmT"
Information & Security: An International Journal,
20,
(2006):
104-121.
http://dx.doi.org/10.11610/isij.2005

Robot Map Building From Sonar Sensors and DSmT

20.05_XindeLi.pdf

Authors:

Xinde Li, Xinhan HUANG, Min WANG

Source:

Information & Security: An International Journal,
Volume: 20,
p.104-121
(2006)

Keywords:

DSmT, grid map, Information Fusion, Mobile robot, Uncertainty

Abstract:

Knowledge acquisition in map building presents characteristics of uncertainty and imprecision. Especially in the course of building grid map using sonar, this uncertainty is especially severe. Jean Dezert and Florentin Smarandache have recently proposed a new information fusion arithmetic (DSmT) whose greatest merit is to deal with uncertainty and conflict of information. In this paper, based on the arithmetic of DSmT, we can fuse information of different reliable degree for homogeneous or heterogeneous sensors. Then we established the belief model for sonar grid map, and constructed the generalized basic belief assignment function (gbbaf). Pioneer II mobile robot served as the experiment platform, and 3D Map was built based on DSmT online. At last, this paper established a firm foundation on studying dynamic unknown environment and multi-robots building map together and SLAM (simultaneous localization and mapping).

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24
Citations
Jiantao Feng, Xinde Li, HyunCheol Park, Juan Liu, Zhentong Zhang
" An improved SLAM method based on planar map registration."
(2024):
Zhentong Zhang, Juan Liu2, Xinde Li, ChuanFei Hu, Fir Dunkin, Shaokun Zhang
" A Novel Framework for Structure Descriptors-Guided Hand-drawn Floor Plan Reconstruction."
(2022):
Ruifeng Li, Wei Wu
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Industrial Robot: the international journal of robotics
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Measurement
59
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139-144.
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(2012):
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(2011):
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"Grid Occupancy Estimation for Environment Perception Based on Belief Functions and PCR6."
Signal Processing, Sensor/Information Fusion, and Target Recognition XXIV
(2015):
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"Optimal path planning and execution for mobile robots using genetic algorithm and adaptive fuzzy-logic control."
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(2017):
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"Information Fusion Method and Application Research (信息融合方法及应用研究)."
Sensors and Microsystems
3
(2007):
Xinde Li, Jean Dezert, Xinhan HUANG
"Selection of sources as a prerequesite for information fusion with application to SLAM."
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(2006):
Fatma Haouas, Zouhour Ben Dhiaf, Basel Solaiman
"Fusion of spatial autocorrelation and spectral data for remote sensing image classification."
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(2016):
Xinhan HUANG, Xinde Li, Min WANG, Jean Dezert
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Xinhan HUANG, Xinde Li, Min WANG
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(2006):
Wang Xuemei, Ning Zhanbin, Liu Gang
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4
(2013):
Xinde Li, Xinhan HUANG, Min WANG
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no. 1
(2006):
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