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http://dx.doi.org/10.5391/JKIIS.2005.15.3.330

An Improved Map Construction for Mobile Robot Using Fuzzy Logic and Genetic Algorithm  

Jin Kwang-Sik (창원대학교 전기공학과)
Ahn Ho-Gyun (창원대학교 전기공학과)
Yoon Tae-Sung (창원대학교 전기공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.15, no.3, 2005 , pp. 330-336 More about this Journal
Abstract
Existing Bayesian update method using ultrasonic sensors only for mobile robot map building has a problem of the quality of map being degraded in the wall with irregularity, which is caused by the wide beam distribution. For improving this problem, an infrared sensors aided map building method is presented in this paper. Information of obstacle at each region in ultrasonic sensor beam is acquired using the infrared sensors and the information is used to get the confidence of ultrasonic sensor information via fuzzy inference system and genetic algorithm. Combining the resulting confidence with the result of Bayesian update method, an improve map is constructed. The proposed method showed good results in the simulations and experiments.
Keywords
Bayesian Map Building; Fuzzy Logic; Genetic Algorithm; Mobile Robot; Infrared Sensor;
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