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

页码：109 / 123

页数：15