Vol.6, Special Issue, 2007 pp. 133-144
UDC 007.52:681.586(045)=111
SENSOR FUSION USING DEMPSTER-SHAFER THEORY
OF EVIDENCE IN AUTONOMOUS ROBOT NAVIGATION
Aytaç Gören, Erol Uyar, Özgün Başer, Zafer Dicle
Dokuz Eylul University, Engineering Faculty, Izmir, TURKEY
e-mail: aytac.goren; erol.uyar@deu.edu.tr
Abstract. In this research, an experimental model of an autonomous
mobile robot is constructed which is equipped with an embedded PC, microprocessors,
cameras, encoders and ultrasonic sensors in order to study on data processing
and performance of different control algorithms. However, this part of
the research does not include the performance differences of control algorithms.
Uncertainties in ultrasonic sensors caused by the unpredictable reflection
from environments make them less reliable. By applying Dempster - Shafer
evidence theory to data from the sensors, it is aimed to have more reliable
sensor data. Dempster-Shafer evidence theory is selected because of its
advantages over Bayesian theory.
Key words: Autonomous mobile robots; sensor fusion; sensor systems;
microcomputer based control
FUZIJA SENZORA UPOTREBOM DEMPSTER-ŠAFEROVE
TEORIJE EVIDENTNOSTI U NAVIGACIJI AUTONOMNIH ROBOTA
U ovom istraživanju načinjen je eksperimentalni model autonomnog mobilnog
robota koji je opremljen ugradjenim PC-ijem, mikroprocesorima, kamerama,
enkoderima i ultrasoničnim senzorima da bi se proučilo procesiranje podataka
i performans različitih upravljackim algoritama. Medjutim, ovaj deo istraživanja
ne uključuje razlike u performansu upravljackih algoritama. Nepreciznosti
u ultrasoničnim senzorima izazvane nepredviljivim reakcijama iz okoline
čini ih manje pouzdanima. Koristeći Dempster-Šeferovu teoriju evidentnosti
za podatke iz senzora, dobijaju se znatno pouzdaniji podaci iz senzora.
Dempster-Šeferova teorija evidentnosti je odabrana zbog prednosti nad
Bajesovom statistickom teorijom u sustinskom smislu.
Ključne reči: Autonomni mobilni roboti, fuzija senzora, sistemi
senzora, mikrokompjuterski zasnovana kontrola
