Research On Fusion Method Of Imperfect Information From Multi-source And Its Application

Information fusion technology is a new subject, which was developed from the martial application at the end of 1970s. With the rapid development of science and technology, especially since ten years ago, it has also got extensive applications in unmilitary fields. Then higher requirements are needed in precision and correctness of recognition, robustness of real-time fusion control and high effecicies of fusion management. However, due to the physical limitation of sensors, uncertainty of system and dynamic disturbance, imperfect information fusion is becoming a challenging problem.The researches on theories and methods are very useful to solve the problem of imperfect information fusion. Though many theories and methods have been proposed since 20 years ago, they can just deal with the special case in imperfect information fusion. Therefore, an extensive method needs to be proposed urgently to solve the quantitative and qualitative fusion problems. Here we take Dezert-Smarandache Theory (DSmT) and Neutrosophic theory regards as the framework, carry out studying deeply the generalized fusion problem of imperfect information from multi-source on the background of map building of mobile robot in unknown environment.From the point of view of quantitative fusion of imprecise information,we associate Fuzzy theory and Neutrosophic theory with belief assignment technology, and extend the combinational rules of belief assignment technology. So we improve the ability of fusion operator in combining evidence sources, and expand the fusion scope.Within the generalized framework, we study deeply on the qualitative fusion of uncertain information. We propose the idea of enrichment of qualitative belief (EQB) linguistic label on the basis of improving the qualitative operators, and also propose the corresponding EQB operator, EQB combinational rule (i.e. conjunctive rule, DSmT, etc), and EQB conflict redistribution rule. Some examples show that the method of qualitative combination has the advantage of extensive fusion scope, high fusion precision. The new method also improves greatly the ability in combining evidence sources and in redistributing conflict mass.Considering the belief assignment technology, we propose the idea of ESMS within the generalized power-set space, which can weigh the similarity between two evidence sources. The ESMS functions are useful to select consistent evidential sources to combine, reduce the complexity of computation, and improve the precision and correctness of fusion.We propose an approach to construct generalized fusion machine within the generalized power-set space, which consists of fusion operator, conflict redistribution, and information filter. Generalized fusion machine not only can avoid from the influence of mistaken, illusive and inconsistent information on fusion machine, exert the advantage of fusion machine adequately, and reduce the complexity of computation, and improve the effect of fusion greatly, but also improve the precision and correctness of fusion, expand the fusion scope of operator, and improve the flexibility of conflict redistribution.Aiming at the uncertainty of acquiring information with sonar sensors, we apply generalized fusion machine to grid map building online of mobile robot in structured environment with the help of self-localization based on fast-Hough transform. At the same time we also compare the generalized fusion machine with other theories (i.e. Probability theory, Dempster–Shafer Theory (DST), Fuzzy theory, Gray theory,DSmT,DSmT coupling with proportional conflict redistribution No.5 (PCR5)) in building map. The results of comparison show the advantage of high fusion precision, high computation efficiency, good stability and extensive applicability etc. The new tool also proposes a new research approach for navigation, path planning, SLAM (Simultaneous Localization And Mapping) and so on.At last, we design and develop an intelligent perception system for mobile robot based on Visual C++ 6.0 and OpenGL, and take Pioneer II mobile robot regards as the experimental platform, where the soft system is testified to be very valid. In addition, the system has the functions of dynamic display and control on-line and also has the design style of object-oriented. It becomes the platform of simulation and experiment for robot perception and information fusion.