Map Building for Underwater Vehicle Based on D-S Information Fusion Algorithm
Mingzhong Yan · System Simulation Technology · 2012
For the path planning of Autonomous Underwater Vehicle in unknown environment,a gird map building method based on the D-S information fusion algorithm is given. Firstly,based on the establishment of an ultrasonic sensor model,the assigned gird certainty value is gotten by using the sonar data; then update the map by using D-S (Shafer-Dempster) evidential theory,and the dynamic underwater gird map is built; finally by comparing the real map with the fused map,it is shown that the fusion algorithm is proved to be effective and feasibility in map building.