Recognition of work space using multiple ultrasonic sensors

For applying ultrasonic sensor to the recognition of robot work space within coal mine, a method of ultrasonic data fusion was developed with DS (Dempster-Shafer) evidence theory, which includes probability assignment of measurement system, evidence extraction and arithmetic of dynamic fusion. Finally, a computer simulation was performed and a satisfactory result was achieved in an assumed three dimension space with an ideal assuming that manipulator is of straight rod combination. It is proved that the incomplete and unspecialized data can be processed reasonably with DS evidence theory and the method can be implemented conveniently.