Obstacle Avoidance by DSmT for Mobile Robot in Unknown Environment
Authors: 
Huimin Chai, Shaonan Lv, Min FangAuthors Info & Claims
Huimin Chai, Shaonan Lv, Min FangAuthors Info & ClaimsArticle No.: 71, Pages 1 - 6
Abstract
A method by Dezert-Smarandache theory (DSmT) is proposed for obstacle avoidance of mobile robot in unknown environment. The grid environment map is constructed for robot. On the basis of DSmT, the generalized basic belief assignment (gbba) is defined to evaluate the grid state: empty, has obstacle, and unknown. Then the belief values of the grid state from different time slice are combined by DSmT. Experiments including eleven typical simulation scenes are given. In these experiments, one scene test fails and the rest of ten scenes are successful in which robot can avoid all obstacles. The results show that the method is effective and available for mobile robot's obstacle avoidance in unknown environment.
References
[1]
FNM Surname (2018). Article Title. Journal Title, 10(3), 1--10.
[2]
YU Zhen-zhong, YAN Ji-hong, et al. Mobile robot path planning based on improved artificial potential field method[J]. Journal of Harbin Institute of Technology, 2011,43(1):50--55.
[3]
Wang Fang, Wan Lei, et al. Path planning based on improved artificial potential field for autonomous underwater vehicles[J]. J. Huazhong Univ. Of Sci. & Tech.(Natural Science Edition), 2011, 39(S2): 184--185.
[4]
Hacene N, Mendil B. Toward safety navigation in cluttered dynamic environment: A robot neural-based hybrid autonomous navigation and obstacle avoidance with moving target tracking [C]. The 3th International Conference on Control, Engineering and Information Technology. Piscataway, USA: IEEE, 2015: 6pp.
[5]
NI Tian, WEI Ruixuan,et al. Neural Dynamic Collision-Avoidance Strategy for Robots Based on Evaluation of Threat Degree[J]. Robot, 2017, 39(6): 853--859.
[6]
Wu Chengdong, Zhang Ying, Li Mengxin, et al. A rough set GA-based hybrid method for robot path planning[J]. International Journal of Automation and Computing, 2006, 3(1): 29--34.
[7]
LI Zhihai, FU Yili. Motion Planning of a Bio-inspired Biped Wall Climbing Robot Stepping over Obstacles Based on Genetic Algorithm[J]. Robot, 2012,34(6): 751--756.
[8]
Dezert J. Foundations for a new theory of plausible and paradoxical reasoning. Inform&Secur. J., Semerdjiev Ed., Bulg. Acad. Of Scl., Vol. 9, 2002.
[9]
L. Zadeh, A simple view of the Dempster-Shafer theory of evidence and its implication for the rule of combination[J]. AI Magazine 7 (1986): 85--90.
[10]
Dezert J. Foundations for a new theory of plausible and paradoxical reasoning[J]. Information and Security Journal, 2002,12(1): 26--30.
[11]
Smarandache F, Dezert J. An introduction to DSm theory of plausible, paradoxist, uncertain, and imprecise reasoning for information fusion[J]. Octogon Mathenatical Magazine, 2007, 15(2): 681--722.
[12]
Xinhan Huang, Peng Li, et al. Evidence Reasoning Machine Based on DSmT for Mobile Robot Mapping in Unknown Dynamic Environment[C]. Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics, Guilin, China: 2009: 753--758.
[13]
LI Ji-Gong1, ZHOU Jie-Yong1, et al. Odor sources mapping with D-S inference in time variant airflow environments via a mobile robot. The 5th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, Shenyang, China: 2015: 545--550.
Index Terms
- Obstacle Avoidance by DSmT for Mobile Robot in Unknown Environment
Recommendations
Obstacle avoidance of a mobile robot using vision system and ultrasonic sensor
ICIC'07: Proceedings of the intelligent computing 3rd international conference on Advanced intelligent computing theories and applicationsThis paper proposes obstacle collision avoidance algorithm for a mobile robot. To navigate without colliding with obstacles the mobile robot uses both the vision system approach and edge detection approach using ultrasonic sensor. The vision system ...
Sound source tracking considering obstacle avoidance for a mobile robot
Sound source tracking is an important function for autonomous robots, because sound is omni-directional and can be recognized in dark environment. This paper presents a new approach to sound source tracking for mobile robots using auditory sensors. We ...
Sound source tracking and obstacle avoidance for a mobile robot
ETFA'09: Proceedings of the 14th IEEE international conference on Emerging technologies & factory automationSound source tracking is an important function for autonomous robots, because sound is omni-directional and independent of light. This paper presents a new approach to sound source tracking for mobile robots using auditory sensors. We consider a general ...
Comments
Information & Contributors
Information
Published In
Copyright © 2019 ACM.
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]
In-Cooperation
- Sichuan University
Publisher
Association for Computing Machinery
New York, NY, United States
Publication History
Published: 19 July 2019
Check for updates
Author Tags
Qualifiers
- Research-article
- Research
- Refereed limited
Conference
CACRE2019
CACRE2019: 2019 4th International Conference on Automation, Control and Robotics Engineering
July 19 - 21, 2019
Shenzhen, China
Contributors
Other Metrics
Bibliometrics & Citations
Bibliometrics
Article Metrics
- 0Total Citations
- 61Total Downloads
- Downloads (Last 12 months)3
- Downloads (Last 6 weeks)0
Reflects downloads up to 15 Oct 2024
Other Metrics
Citations
Cited By
View allView Options
Get Access
Login options
Check if you have access through your login credentials or your institution to get full access on this article.
Sign in