A Fuzzy Set Approach for Optimal Positioning of a Mobile Robot Using Sonar Data
Martin Pfingstl, Stefan Schäffler · 1996
A procedure for optimal positioning of a mobile robot based on sonar data is presented. This procedure uses simulated sonar scan data in order to gain step by step information about the unknwon room, which is modelled as a fuzzy set. The definition and application of a special measure allows the calculation of a new position, which promises the maximal amount of additional information about the unknown room, if the new position is interpreted as the next scan position. The efficiency of the algorithm is shown by examples.