文档介绍：IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 14, NO. 2, APRIL 1998 197
Dempster–Shafer Theory for Sensor Fusion
in Autonomous Mobile Robots
Robin R. Murphy, Member, IEEE
Abstract—This article discusses Dempster–Shafer (DS) pensate for missing observations. But a different view may
in terms of its utility for sensor fusion for autonomous mobile not make up for observations which are inherently plete
robots. It exploits two little ponents of DS theory: the or ambiguous. This uncertainty may not be diminished over
weight of conflict metric and the enlargement of the frame of
discernment. The weight of conflict is used to measure the amount time; the longer the robot looks at a scene does not necessarily
of consensus between different sensors. A lack of consensus mean an significant increase in belief about a percept.
leads the robot to pensate within certain limits or To e these problems, some researchers have pro-
investigate the problem further, adding robustness to the robot’s posed turning to perceptual systems which rely on multiple
operation. Enlarging the frame of discernment allows a modular
position of evidence. This position offers the advan- general purpose sensors. These systems bine the
tages of perceptual abstraction, and permits expert knowledge observations from each sensor and produce a single percept,
about the domain to be embedded in the f