Localization of legged robots combining a fuzzy-Markov method and a population of extended Kalman filters

被引：13

作者：

Martin, Francisco ^{[1
]}

Matellan, Vicente ^{[1
]}

Barrera, Pablo ^{[1
]}

Canas, Jose M. ^{[1
]}

机构：

[1] Rey Juan Carlos Univ, Robot Lab, Madrid 28933, Spain

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2007年 / 55卷 / 12期

关键词：

mobile robots; robotic soccer; localization; fuzzy logic; Kalman filter; legged robot;

D O I：

10.1016/j.robot.2007.09.006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new approach to robot vision-based self-localization in dynamic and noisy environments for legged robots when efficiency is a strong requirement. The major contribution of this paper is the improvement of a Markovian method based on a fuzzy occupancy grid (FMK). Our proposal combines FMK with a population of Extended Kalman Filters, making the complete algorithm both robust and accurate while keeping its computational cost bounded. Two different strategies have been designed to combine both the methods. They have been tested in the RoboCup environment and quantitatively compared with other approaches in several experiments with the real robot. (c) 2007 Elsevier B.V. All rights reserved.

引用

页码：870 / 880

页数：11

共 18 条

[1] [Anonymous], 2005, Probabilistic Robotics(IntelligentRobotics and Autonomous Agents)
[2] Borenstein J., 1996, NAVIGATING MOBILE RO
[3] Buschka P, 2000, 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, P1205, DOI 10.1109/IROS.2000.893183
[4] DAVID CK, 2002, P AUSTR C ROB AUT AU
[5] DELLAERT F, 1999, IEEE COMP SOC C COMP
[6] FOX D, 1999, CMUCS99120
[7] GUERRERO P, 2003, ANAL I INGENIEROS CH, V115, P91
[8] Gutmann JS, 1998, 1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3, P736, DOI 10.1109/IROS.1998.727280
[9] Herrero-Pérez D, 2005, LECT NOTES COMPUT SC, V3276, P110
[10] HOWARD A, 2002, IRIS02416

← 1 2 →