文档介绍：Journal of Intelligent & Fuzzy Systems 11 (2001) 171–184 171
IOS Press
Building maps for mobile robot navigation
using fuzzy classification of ultrasonic range
data
Omar M. Al-Jarrah∗ and Omar Q. Bani-Melhem
Department puter Engineering, Jordan University of Science and Technology, Irbid 22110, Jordan
E-mail: {aljarrah, omelhem}***@
Abstract. For a mobile robot to navigate in pletely unknown environment, it has to perceive its environment locally or
globally, reason about its perceptions, and act accordingly. This paper presents a method for building environmental maps for
mobile robot navigation using fuzzy classification of ultrasonic range data. The paper concentrates on the classification method.
A fuzzy classifier is built to classify the ultrasonic data while the robot is exploring its environment. The generated map will be
a graph-representation (topological) of the environment in which nodes represent situation areas and edges represent transitions
between these areas. The fuzzy classification pared with anizing feature map work classifier. It is shown
that when using fuzzy classification, the generated nodes in the map are reduced. This will reduce the time to build the path
between the start and target positions. Simulation results prove the ess of the fuzzy classification in building environmental
maps parison with works.
Keywords: Fuzzy, classification, navigation, mobile robot, topological map, ultra-sonic sensors
1. Introduction map is not given to the mobile robot a priori, it must be
built by the robot itself using a sensory system such as
The ultimate goal of an autonomous mobile robot ultrasonic sensors [10]. Two fundamental paradigms
is to navigate safely to its target. Many methods have for modeling the robot environment have been intro-
been introduced in the field of mobile robot navigation. duced. The first one is the grid-based approach [7,8]. In
These methods can be classified into three categories: this approach, the en