Using fuzzy sets to represent uncertain spatial knowledge in autonomous robots

• Autonomous mobile robots need the capability to reason from and about spatial knowledge. Due to limitations in the prior information and in the perceptual apparatus, this knowledge is inevitably affected by uncertainty. In this paper, we discuss some techniques employed in the field of autonomous robotics to represent and use uncertain spatial knowledge. We focus on techniques which use fuzzy sets to account for the different facets of uncertainty involved in spatial knowledge. These facets include the false measurements induced by bad observation conditions; the inherent noise in odometric position estimation; and the vagueness introduced by the use of linguistic descriptions. To make the discussion more concrete, we illustrate some of these techniques showing samples from our work on mobile robots.

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

Nyckelord

environment modeling

fuzzy logic

linguistic descriptions

robot navigation

self localization

spatial maps

uncertainty management

Datalogi

Computer and Systems Science

Publikations- och innehållstyp

ref (ämneskategori)

art (ämneskategori)