Fast-Hough Self-Localization

This paper presents a new tool based on DSmT overcome the shortcoming of DST[l0][l 1], its precision still (Dezert-Smarandache Theory) and fast-Hough self-localization need to be improved further, since it didn't consider which is applied to autonomous mobile robot's map redistributing the conflicting mass with PCR rule [12] or reconstruction. Uncertainty from sonar information is fused and other rules, and even didn't yet consider the self localization. managed in rebuilding grid map effectively with DSmT, since In this paper we give a further research on map reconstruction fast-Hough self-localization from laser information overcomes some shortcomings of classical Hough transformation including based on DSmT (i.e. DSmC and PCR5 rules) and Fast-Hough high amount of computation and low precision of localization. Self-Localizaton in a statc environment. When a virtual mobile robot evolves in the virtual environment This paper is organized as follows: In section II, Simple with different outline features, the result can adequately testify review of DSmT. In section III, A model based on DSmT that the new tool owns better performance to rebuild map. In with sonar information is given. In section IV, A new self general, this research provides an approach for studying -localization based on Fast-Hough transformation is autonomous navigation of mobile robot or unmanned land proposed. In section V, A simulation experiment is done to vehicle (ULV) in unknown environment, also provides a human. ' computer interactive interface to manage and manipulate the tersify pormatnc of n tonluinnma reacsrcin robot remotely. under self localization. At last, a conclusion is reached in section VI. Index Terms Map Reconstruction, DSmT, Self-localization, II. REVIEW OF DSMT Hough transformation. DSmT (Dezert-Smarandache Theory) [7]is a new, general and