UNCERTAIN ROBOT ENVIRONMENT MODELING USING FUZZY NUMBERS

In this paper, we present a fuzzy-oriented methodology to model an uncertain geometric robot environment and to manipulate geometric uncertainties between robot coordinate frames. We describe any geometric primitive of robot environment as a parameter vector in parameter space. Not only ill-known values of the parameterized geometric primitives but the uncertain quantities of coordinate transformations are represented by means of fuzzy numbers restricted to appropriate membership functions. For consistent interpretation about geometric primitives between different coordinate frames, we manipulate these uncertain quantities using fuzzy arithmetic. As an application, we deal with a 2-dimensional straight line correspondence problem of a mobile robot vision system. This example shows the usefulness of the proposed methodology.