Abstract: Fuzzy set methods can improve the fusion of uncertain sensor data. The expected output membership function (EOMF) method uses the fuzzified inputs and possible fuzzy outputs to estimate the fused output. The most likely fuzzy output comes from fusability measures which are calculated using the degrees of the intersections of the possible fuzzy outputs with the fuzzified inputs. The support lengths of the fuzzified inputs can be set proportional to the sensor variance in the fixed case. However, individual measurements can deviate widely from the true value even in accurate sensors. The support length of input sets can be varied by estimating the variation of the input. This adaptation helps deal with occasional bad or noisy measurements. The variation is defined as the absolute change rate of the input with respect to previous output estimates. The variation is defined as the absolute change rate of the input with respect to previous output estimates. The EOMF can also be too wide or too narrow compared to the fuzzified inputs. Adaptive methods can help select the size of the EOMF. An example from the control of automated vehicles shows the effectiveness of the adaptive EOMF method, compared to the fixed EOMF method and the weighted average method. The EOMF method shows robustness to outlying measurements when the average fusion operator is used. !11
展开▼
