Evidential logical sensing using multiple sonars for the identification of target primitives in a mobile robot's environment
Date
1996Source Title
Proceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems
Publisher
IEEE
Pages
365 - 372
Language
English
Type
Conference PaperItem Usage Stats
231
views
views
256
downloads
downloads
Abstract
Physical models are used to model reflections from target primitives commonly encountered in mobile robot applications. These targets are differentiated by employing a multi-transducer pulse/echo system which relies on both amplitude and time-of-flight (TOF) data in the feature fusion process, allowing more robust differentiation. Target features are generated as being evidentially tied to degrees of belief which are subsequently fused for multiple logical sonars at different geographical sites. This evidential approach helps to overcome the vulnerability of echo amplitude to noise and enables the modeling of non-parametric uncertainty. Feature data from multiple logical sensors are fused with Dempster-Shafer rule of combination to improve the performance of classification by reducing perception uncertainty. Using three sensing nodes, improvement in differentiation is between 20-40% without false decision, at the cost of additional computation. Simulation results are verified by experiments with a real sonar system. This evidential approach helps to overcome the vulnerability of the echo amplitude to noise and enables the modeling of non-parametric uncertainty in real time.
Keywords
Computer simulationFeature extraction
Parameter estimation
Robustness (control systems)
Sensor data fusion
Sonar
System stability
Evidential logical sensing
Time of flight data
Mobile robots