Adaptive fuzzy logic algorithm for grid-map based sensor fusion

Abstract

This paper presents an adaptive fuzzy logic algorithm for sensor fusion related to mapping the environment. The proposed algorithm deals with unknown a-priori sensory distributions and with asynchronous update of the sensors. Feedback is calculated every time, each logical sensor sends new data and is used to measure on-line the logical sensors performances. Analysis in an indoor mobile robot experiment indicated superior performance of the adaptive fuzzy logic algorithm when compared to three other sensor fusion algorithms.