Building a Local Hybrid Map from Sensor Data Fusion

Authors:
Zoe Falomir;Juan Carlos Peris;M. Teresa Escrig
Affiliations:
Universitat Jaume I, Engineering and Computer Science Department, Campus Riu Sec, Castellón, E-12071 (Spain), zfalomir@icc.uji.es, escrigm@icc.uji.es;Universitat Jaume I, Languages and Computer Science Systems Department, Campus Riu Sec, Castellón, E-12071 (Spain), jperis@lsi.uji.es;Universitat Jaume I, Engineering and Computer Science Department, Campus Riu Sec, Castellón, E-12071 (Spain), zfalomir@icc.uji.es, escrigm@icc.uji.es
Venue:
Proceedings of the 2006 conference on Artificial Intelligence Research and Development
Year:
2006

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Abstract

A local hybrid (qualitative + quantitative) map is developed in this paper. The concave and convex corners of the environment and a distance perception pattern, provided by a fuzzy-qualitative sensor fusion process, are included in the map. This map is the base for solving the robot localization, path planning and navigation problem by using qualitative reasoning models. According to the model described in this paper, the size of the representation of the world is given only by the complexity of the environment.