| Summary: | 碩士 === 淡江大學 === 電機工程學系碩士班 === 98 === This paper provides a sensor fusion approach to improve the accuracy in building an occupancy map based on an established ultrasonic sensor model.
We first construct a sensor model for the ultrasonic range finders mounted on the Pioneer P3-DX mobile robot by experimental test and mathematical reasoning. Based on the sensor model established, a probability can be assigned to each cell of the grid map that represents the possibility of obstacles.
Second, by using sensor fusion technique, like Dempster-Shafer theory, probabilities of the cells can be combined to derive a new probability for representing the cell. As mobile robot moves, the probability of cell will be updated continuously. Finally, a complete occupancy grid map for the unknown environment can be established for use in navigation of the autonomous robot.
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