Sonar based mobile robot localization by using fuzzy triangulation

被引：14
作者：
Demirli, K
Türken, IB
机构：
[1] Univ Toronto, Dept Mech & Ind Engn, Toronto, ON M5S 3G8, Canada
[2] Concordia Univ, Dept Mech Engn, Montreal, PQ H3G 1M8, Canada
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2000年 / 33卷 / 2-3期
基金：
加拿大自然科学与工程研究理事会;
关键词：
fuzzy sets; uncertainty; sonar; mobile robots; localization;
D O I：
10.1016/S0921-8890(00)00082-8
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The objective of this paper is to identify the robot's location in a global map from solely sonar based information. This is achieved by using fuzzy sets to model sonar data and by using fuzzy triangulation to identify robot's position and orientation. As a result we obtain a fuzzy position region where each point in the region has a degree of certainty of being the actual position of the robot. (C) 2000 Elsevier Science B.V. All rights reserved.
引用
收藏
页码：109 / 123
页数：15
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