关键词: 移动机器人，DSmT，信息融合，地图构建，传感器管理

Abstract: A new information fusion method namely DSmT (Dezert Smarandache Theory) was introduced to solve the problem of robot map building in an unknown environment. "hhe grid map method was adopted, and according to sonar sensor mathematical model under DSmT framework, a group of general basic belief assignment functions (gbbaf) was constructed based on classical DSm model to deal with the uncertain and imprecise, and even high conflicting information in the unknown environment. And a simple but very effectual sensor management method was proposed to completely climinate the multi-reflection and crosstalk of the sound wave in the complex environment At last,Pioneer 2-DX mobile robot was used to carry out experiments of map building with DSmT and DST (Dempster-Shafer Theory). The corrclative 2D general basic belief assignment (gbba) map was constructured. The comparison between the two results testifies the validity of DSmT and the proposed sensor management method in unknown environment It supplies a powerful theoretie evidence for fusing dynamic high conflicting information.

Key words: Mobile robot, DSmT, Information fusion, Map building, Sensor management