Adaptive fuzzy logic algorithm for grid-map based sensor fusion Academic Article uri icon


  • 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.

publication date

  • January 1, 2004