摘要
针对非结构化环境地图构建问题,提出了一种基于改进的D-S证据理论的栅格地图构建方法。使用移动机器人多超声波传感器进行了环境探测;针对某些情况下不能应用D-S证据理论进行信息融合和D-S证据组合过程有时会产生有悖常理的无效结果的问题进行了讨论,提出了采用近似处理算法对D-S证据理论进行改进,并将其用于多传感器信息融合,构建了2维D-S栅格地图;运用D-S证据理论进行了判决,构建了2维0-1栅格地图;对D-S栅格地图进行了分析,提出了基于D-S栅格地图的环境评价与环境探测效果评价方法。仿真结果表明,基于改进的D-S证据理论的栅格地图构建方法适用于非结构化环境的地图构建。
A method of constructing grid map using improved Dempster-Shafer（D-S） evidence theory was proposed for unstructured environment mapping.A mobile robot was used to explore environment with ultrasonic sensors.The problems that the D-S evidence theory can not be applied to information fusion under certain circumstances and that it has counterintuitive behaviors in some cases were discussed.An approximate process algorithm was developed to avoid the above problems and improve the D-S evidence theory.This improved D-S evidence theory was used to fuse multi-sensor information;then a two-dimensional D-S grid map was built.With D-S evidence rule of decision making,a 0 1 grid map was built.The D-S grid map was analyzed,and an algorithm to evaluate the environment and environment exploration effect based on D-S grid map was proposed.Simulation results show that the improved D-S evidence theory is appropriate to unstructured environment mapping.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2011年第4期1126-1130,共5页
Journal of Jilin University:Engineering and Technology Edition
基金
'863'国家高技术研究发展计划项目(2006AA04Z243)
国家自然科学基金项目(50775013)
中央高校基本科研业务费专项资金项目(2009RC0601)
北京市教委科技计划重点项目(KZ200810005002)
关键词
自动控制技术
近似处理算法
D-S证据理论
多传感器信息融合
栅格地图
automatic control technology
approximate process algorithm
D-S evidence theory
multi-sensor information fusion
grid map
