%0 Journal Article
%T Navigation for mobile robot based on uncertainty grid-map<br>基于不确定网格地图的移动机器人导航
%A DUAN Yong
%A XU Xin-he
%A <br>段勇
%A 徐心和
%J 控制理论与应用
%D 2006
%I 
%X The problem of the mobile robot navigation is studied in this paper.Based on the uncertain model of ultrasonic sensor,the grid map is built according to fuzzy sets,which is utilized to describe the environments.The fuzzy membership is used to denote the state of occupancy grid.The measure error of sensor can be effectively reduced through fusing information of grids.Accordingly,the precision of map building is improved.Based on the fuzzy grid map,an approach of optimal path planning is also presented.Furthermore,local path searching is iterated,and is used to substitute the global path planning.The robot alternately executes two processes:map building and path planning in order to achieve navigation mission.Finally,simulation results show that the built map can accurately depict environment and the robot can successfully achieve the destination in the light of planned path.
%K occupancy grid
%K fuzzy sets
%K path planning
%K sensor fusion<br>占据网格
%K 模糊集
%K 路径规划
%K 传感器融合
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=128D56AFE4122D25&yid=37904DC365DD7266&vid=EA389574707BDED3&iid=B31275AF3241DB2D&sid=9F481C73BF82C48F&eid=4D5C5090B0F83CF9&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=6