Sensor fusion using Dempster-Shafer theory of evidence in autonomous robot navigation
Aytaç Gören, Erol Uyar, Başer Özgün, Dicle Zafer · 2008
In this research, an experimental model of an autonomous mobile robot is constructed which is equipped with an embedded PC, microprocessors, cameras, encoders and ultrasonic sensors in order to study on data processing and performance of different control algorithms. However, this part of the research does not include the performance differences of control algorithms. Uncertainties in ultrasonic sensors caused by the unpredictable reflection from environments make them less reliable. By applying Dempster - Shafer evidence theory to data from the sensors, it is aimed to have more reliable sensor data. Dempster- Shafer evidence theory is selected because of its advantages over Bayesian theory. .