Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Improved Map construction for Mobile Robot using Genetic Algorithm and Fuzzy

진화 알고리즘과 퍼지 논리를 이용한 이동로봇의 개선된 맵 작성

  • Son, Jung-Su (Department of Electrical Engineering, Changwon National University) ;
  • Jung, Suk-Yoon (Department of Electrical Engineering, Changwon National University) ;
  • Jin, Kwang-Sik (Department of Electrical Engineering, Changwon National University) ;
  • Yoon, Tae-Sung (Department of Electrical Engineering, Changwon National University)
  • Published : 2002.07.10
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Abstract

In this paper, we present an infrared sensors aided map building method for mobile robot using genetic algorithm and fuzzy logic. 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 width of sonar waves and Gaussian probability distribution. In order to solve this problem we propose an improved method of map building using supplementary infrared sensors. In the method, wide beam width of sonar waves is divided by infrared sensors and probability is distributed according to infrared sensors' information using fuzzy logic and genetic algorithm.

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