Sonar Grid Map Building under Static Environment Based on Classic DSmT
基于经典DSmT 的Sonar栅格地图创建*

A new method of information fusion recently developed from Bayesian theory and Dempster-Shafer theory was applied and on the base of experiment,according to sonar's metrical characteristic,the general basic belief assignment functions were constructed for modeling of static environment.After sonar's redundant information for each grid was fused according to classic DSm rule,the Bel for grid's occupancy was calculated.Finally,Pioneer II mobile robot served as the experiment platform,and 3D Map was built based on DSmT on-line respectively.By comparing its planform from objects' profile and location in the real 2D environment,the validity of this method was fully verified.In short,would establish a firm foundation for further research on solving heterogeneous or homogeneous multi-source information fusion according to DSmT based on discount theory,on map building in dynamic environment and multi-robot's map building together and self-localization based on Hybrid DSmT.