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Title:
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EVALUATION OF GRID-MAP SENSOR FUSION MAPPING ALGORITHMS |
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Author(s):
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Keren Kapach , Yael Edan |
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ISBN:
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ISSN: 1646-3692 |
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Editors:
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Pedro Isaías and Marcin Paprzycki |
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Year:
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2007 |
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Edition:
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V II, 2 |
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Keywords:
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sensor fusion, algorithms, robotics and autonomous mobile robots. |
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Type:
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Journal Paper |
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First Page:
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13 |
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Last Page:
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32 |
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Language:
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English |
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Cover:
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Full Contents:
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click to dowload 
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Paper Abstract:
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This paper presents a thorough evaluation of grid map based sensor fusion algorithms for mapping the
environment of a mobile robot. Three physical sensors were used for creating the grid maps: a CCD
camera, a set of ultrasonic sensors and a laser rangefinder. An adaptive fuzzy logic algorithm was
compared to three logical sensor fusion algorithms. Results indicate the superiority of the adaptive fuzzy
logic algorithm with a 0.075 confidence level. |
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