Comparison of three uncertainty calculus techniques for ultrasonic map building

Fabio Gambino; Giuseppe Oriolo; Giovanni Ulivi

doi:10.1117/12.243260

14 June 1996 Comparison of three uncertainty calculus techniques for ultrasonic map building

Fabio Gambino, Giuseppe Oriolo, Giovanni Ulivi

Proceedings Volume 2761, Applications of Fuzzy Logic Technology III; (1996) https://doi.org/10.1117/12.243260
Event: Aerospace/Defense Sensing and Controls, 1996, Orlando, FL, United States

Abstract

Consider the problem of building the map of an unknown environment by using range readings obtained through ultrasonic sensors, and assume that a bitmap representation is adopted for compactness. In an ideal map, each cell of the bitmap is either empty or occupied by an obstacle. Because of the uncertainty introduced by sonar sensing, it is necessary to process appropriately the measures in order to classify each cell with a reasonable degree of accuracy. We compare three different algorithms for ultrasonic map building that are based respectively on probability theory, fuzzy logic and fuzzy measures. Simulation results in a one- dimensional case and experimental results for an office-like environment are presented to perform a comparison among the presented approaches.

Citation Download Citation

Fabio Gambino, Giuseppe Oriolo, and Giovanni Ulivi "Comparison of three uncertainty calculus techniques for ultrasonic map building", Proc. SPIE 2761, Applications of Fuzzy Logic Technology III, (14 June 1996); https://doi.org/10.1117/12.243260

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