Using Fuzzy Sets to Represent Uncertain Spatial Knowledge in Autonomous Robots
J. Gasós and A. Saffiotti
Autonomous mobile robots need the capability to reason from and about
spatial knowledge. Due to limitations in the prior information and in
the perceptual apparatus, this knowledge is inevitably affected by
uncertainty. In this paper, we discuss some techniques employed in the
field of autonomous robotics to represent and use uncertain spatial
knowledge. We focus on techniques which use fuzzy sets to account for
the different facets of uncertainty involved in spatial knowledge.
These facets include the false measurements induced by bad observation
conditions; the inherent noise in odometric position estimation; and
the vagueness introduced by the use of linguistic descriptions. To
make the discussion more concrete, we illustrate some of these
techniques showing samples from our work on mobile robots.