Logic-based sensor fusion for localization

摘要

A sensor-fusion technique based on the logic of possibility is proposed for the localization of a mobile robot in an approximately known indoor area. The basic concepts underlying the approach are summarized and the formal method for sensor fusion is illustrated. The technique is used to update the necessity values of a discrete set of relevant places in a topological map of the environment. Experimental tests, using a sonar ring and a beacon-tracking camera, are reported.