Representation of Uncertain Geometric Robot Environment Using Fuzzy Numbers

In this paper, we present a fuzzy-number-oriented methodology to model uncertain geometric robot environment and to manipulate geometric uncertainty between robot coordinate frames. We describe any geometric primitive of robot environment as a parameter vector in parameter space. Not only ill-known values of the parameterized geometric primitive but the uncertain quantities of coordinate transformation are represented by means of fuzzy numbers restricted to appropriate membership functions. For consistent interpretation about geometric primitives between different coordinate frames, we manipulate these uncertain quantities using fuzzy arithmetic.