A Multisensor Decision Fusion System for Terrain Safety Assessment
Seraji, H.
Serrano, N.
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA;
This paper appears in: Robotics, IEEE Transactions on
Publication Date: Feb. 2009
Volume: 25,
Issue: 1
On page(s): 99-108
ISSN: 1552-3098
INSPEC Accession Number: 10470509
Digital Object Identifier: 10.1109/TRO.2008.2006705
First Published: 2009-01-20
Current Version Published: 2009-02-03
Abstract
This paper describes an onboard automated hybrid reasoning system for terrain safety assessment using multiple heterogeneous sensors onboard a spacecraft. An innovative feature of this system is integration of multiple sensing modalities and different reasoning engines into a unified approach. Three different frameworks for representation of data uncertainty are considered: fuzzy set theory, Bayesian probability theory, and Dempster-Shafer belief theory. The hybrid reasoning system is composed of three subsystems, namely, multisensor fusion, multidecision fusion, and tier-based fusion selection, where each tier represents a range of spacecraft altitudes. Simulation results are presented to illustrate the multisensor decision fusion methodology described in this paper. The developed capabilities will enable future spacecraft to land safely in more challenging planetary regions with scientifically interesting terrain features.
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