SENSOR FUSION FOR OMNIDIRECTIONAL SENSOR-BASED LOCAL HOMING NAVIGATION USING FUZZY ARITHMETIC

In this paper, we propose a novel environment modeling method for loca l homing for indoor mobile navigation. An environment model is constru cted from a set of omnidirectional sensor data obtained by rotating an ultrasonic sensor and a vision sensor. We develop a sensor fusion met hod to deal with uncertainties in the two types of sensor data. The pr oposed sensor fusion method uses fuzzy numbers to represent subjective knowledge and manipulates uncertain quantities using fuzzy arithmetic . Using the proposed method, we can determine a more precise geometric relation between the current location and the target location. To eva luate the proposed environment modeling and to verify the sensor fusio n method, experiments are carried our in an indoor environment.