퍼지 논리와 진화 연산을 이용한 자율 이동로봇의 개선된 지도형성 연구
(A) Study on Improved Map Construction for Mobile Robot Using Fuzzy Logic and Genetic Algorithm
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In this study, an infrared sensors aided map building method for mobile robot using fuzzy logic and genetic algorithm is presented, Existing Bayesian update model using ultrasonic sensors only has a problem of the quality of map being degraded in the wall with irregularity, which is caused by the wide beam distribution. In order to solve this problem. an improved method of map building using supplementary infrared sensors is proposed in this study. In the method, wide beam width of sonar wave is divided by infrared senors and information of obstacle at each region is acquired. so this method can get information of environment more exactly. Probability is distributed according to ultrasonic sensor, after infrared sensors estimaite confidence of data of it by fuzzy inference system.