Sw. Bang et al., SENSOR FUSION FOR OMNIDIRECTIONAL SENSOR-BASED LOCAL HOMING NAVIGATION USING FUZZY ARITHMETIC, Intelligent automation and soft computing, 4(3), 1998, pp. 215-226
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.