DSmT Coupling with PCR5 for Mobile Robot's Map Reconstruction
Xinde Li, Xinhan Huang, Min Wang, XU Jian-sheng, Hongbo Zhang · 2006
In this paper, considering the information fusion of multi-sensors on mobile robot, a new tool (the fusion machine of DSmT (Dezert-Smarandache Theory) coupling with PCR5 (Proportional Conflict Redistribution Rule is applied to autonomous mobile robot's map reconstruction from 16 sonar rangefinders. According to the physical characteristics of sonar rangefinder, general basic belief assignment functions are constructed respectively. By comparing the result of map reconstruction with this new tool from other approaches (i.e. Probability, Fuzzy, DST), when a virtual mobile robot evolves in the virtual environment with obstacles, we can adequately testify that the new tool owns better performance to rebuild map and even can solve the challenging SLAM problem more effectively.