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In this paper a new method of information fusion, Dezert-Smarandache theory (DSmT) is introduced to deal with high conflicting and uncertain information. And then the evidence reasoning machine (ERM) based on DSmT is presented for mobile robot mapping in unknown dynamic environment. Considering the characteristics of sonar sensors, the grid map method is adopted and a sonar sensor mathematical model...
This paper addresses the navigation problem of coordinating a team of heterogenous vehicles including an autonomous surface vehicle (ASV) and several autonomous underwater vehicles (AUVs). Specially, a dedicated acoustic navigation scheme has been proposed in it. Utilizing the underwater DGPS concept, together with a set of intelligent surface sonobuoys, the precise position of the concerned AUV carrying...
In this paper, considering the information fusion of multi-sensors on mobile robot, a new tool (the fusion machine of DSmT (Dezert-Smarandache theory) coupling with PCR5 (proportional conflict redistribution rule)) is applied to autonomous mobile robot's map reconstruction from 16 sonar rangefinders. According to the physical characteristics of sonar rangefinder, general basic belief assignment functions...
According to environment information, navigation and motion control are key techniques in intelligent mobile robot system. Vision information is the most important way to perceive environment, the vision-based intelligent control techniques concerning on Pioneer II mobile robot system are presented. The object search, image segmentation based on HSV (hue-saturation-value) color mode, clustering algorithm...
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