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In this paper, the authors propose the pre-processor based on the Evidence Supporting Measure of Similarity (ESMS) filter and also propose the Unified Fusion Approach (UFA) based on the general fusion machine coupled with ESMS filter, which improve the correctness and precision of information fusion in any fields of application. Here they mainly apply the new approach to Simultaneous Localization And Mapping (SLAM) of Pioneer II mobile robots. A simulation experiment was performed, where an autonomous virtual mobile robot with sonar sensors evolves in a virtual world map with obstacles.
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