Localization using Fuzzy-Extended Kalman Filter

被引：0
作者：
机构：
[1] Dept. of Electronic Engineering, INHA Univerity
[2] Dept. of Robot Engineering, INHA Univerity
来源：
Huh, U.-Y. (uyhuh@inha.ac.kr) | 1600年 / Korean Institute of Electrical Engineers卷 / 63期
关键词：
Extended kalman filter; Fuzzy; Localization; Mobile robots;
D O I：
10.5370/KIEE.2014.63.2.277
中图分类号：
学科分类号：
摘要：
This paper proposes robot localization using Fuzzy-Extended Kalman Filter algorithm of the mobile robots equipped with least sensors. In order to improve the accuracy of the localization, we usually add the sensors or equipment. However, it increases the simulation time and expenses. This paper solves this problem using only the odometer and ultrasonic sensors to get the localization with the Fuzzy-Extended Kalman Filter algorithm method. By inputting the robot's angular velocity, sensor data variation, and residual errors into the fuzzy algorithm, we get the sensor weight factor to decide the sensor's importance. The performance of the designed method shows by the simulation and Pioneer 3-DX mobile robot test in the indoor environment.
引用
收藏
页码：277 / 283
页数：6
相关论文
共 11 条
  • [1] Borenstein J., Feng L., Measurement and correction of systematic odometry errors in mobile robots, IEEE Transactions on Robotics and Automation, 12, 6, pp. 869-880, (1996)
  • [2] Adams C., Is 'Dead Reckoning' Short for 'Deduced Reckoning?', (2002)
  • [3] Silpa-Anan C., Borenstein J., Measurement of angular position of a mobile robot using ultrasonic sensors, ANS Conference on Robotics and Remote Systems, pp. 26-28, (1999)
  • [4] Song Z., Liu H., Zhang J., Wang L., A Localization Algorithm for Low-cost Cleaning Robots Based on Kalman Filter, 2010 8th World Congress on Intelligent Control and Automation (WCICA)
  • [5] Singhal A., Issues in Autonomous Mobile Robot Navigation, (1997)
  • [6] Nister D., An effective solution to the five-point relative pose problem, IEEE Transactions on Pattern Analysis and Machine Intelligence, 26, 6, pp. 756-770, (2004)
  • [7] Olson C.F., Matthies L.H., Schoppers M., Maimone M.W., Robust stereo ego-motion for long distance navigation, , Proc. IEEE Conference on Computer Vision and Pattern Recognition, 2, pp. 453-458, (2000)
  • [8] Bouvet D., Froumentin M., Garcia G., A real-time localization systems for compactors, Automation in Construction, 10, pp. 417-428, (2001)
  • [9] Sasiadek J.Z., Wang Q., Sensor fusion based on fuzzy kalman filtering for autonomous robot vehicle, Proc. IEEE Int. Conf. On Robotics and Automation, (1999)
  • [10] Wang C.M., Localization estimation and uncemtenty analysis for mobile robots, IEEE Int. Conf. On Robotics and Automation, Philadelphia, (1998)
12