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(A) Study on Improved Map Construction for Mobile Robot Using Fuzzy Logic and Genetic Algorithm

  • 저자

    손정수

  • 학위수여기관

    昌原大學校 大學院

  • 학위구분

    국내석사

  • 학과

    전기공학과 전기공학전공

  • 지도교수

  • 발행년도

    2003

  • 총페이지

    58p.

  • 키워드

    자율 이동로봇 이동로봇 퍼지 논리 진화 연산;

  • 언어

    kor

  • 원문 URL

    http://www.riss.kr/link?id=T9469672&outLink=K  

  • 초록

    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.


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