Incomplete Information Fusion Technology And Its Application In Mobile Robot

With the rapid development of the sensor, computer and information technology, a variety of applications with complex background of multi-sensor system continue to emerge, making the obtaining, processing and integration of the information more diversified. The multi-source information fusion technology has been given more and more attentions and applied in both military and civilian fields. The theories and methods of multi-source information fusion technology has become the important research area of intelligent information processing and control.So far, many researchers have brought forward a lot of information fusion algorithms. Among these algorithms, the evidence reasoning theory allows people to accord their thinking mode to model and reason with imperfect information. It has been widely spread. The recently proposed Dezert-Smarandache Theory is an excellent evidence reasoning theory with the capabilities of dealing with nearly all types of information, especially with uncertain, imprecise and high conflicting information.After briefly introducing the DST (Dempster-Shafer Theory), DSmT and the neutrosophic theory, based on the information characteristics, the imperfect information is classified. The imperfect information technology based on evidence reasoning is studied further with two aspects of quantitative fusion and qualitative fusion. The responsible fusion algorithms for different types of information of the imperfect information are proposed with deeply a analyzing and comparing. The multi-source information fusion technology can be spread well with the complete multi-source information fusion theory system constructed in this article.After analyzing the existent fusion frame in evidence reasoning field, a new general fusion frame compatible with other fusion structures. And the general evidence reasoning machine is constructed, and it can be extended into other evidence reasoning theories with the definitions of its working principles.And then the DSmT information fusion technology is applied to mobile robot. The sonar data are analyzed and the planar sonar mathematic model is constructed. The algorithms and general evidence reasoning machine proposed in this paper is applied to the information fusion system of the robot. The multi-agent system architecture of single robot is proposed, too. With these achievements, the mobile robot can build accurate maps, positioning precisely, and autonomously navigating in complex dynamic unknown environment. The results of the experiments verify the validity of information fusion technology in robotics applications and the superiority of the monomer multi-agent contracture. And the multi-robot system is attempted to be construct. The joint multi-robot map building is achieved basically. A solid foundation for multi-robot detecting unknown dynamic environment has been set up.A mobile robot experiment and emulation platform is developed with Visual Studio 2008 and OpenGL. It has become an excellent tool for mobile robot research with the advantages of versatility, easy operation and friendly Friendly interface.