Fuzzy logic based dynamic localization and map updating for mobile robots

被引：0
|
作者：
Molhim, M
Demirli, K
机构：
[1] Jordan Univ Sci & Technol, Dept Mech Engn, Irbid, Jordan
[2] Concordia Univ, Dept Mech Engn, Fuzzy Syst Res Lab, Montreal, PQ H3G 1M8, Canada
来源：
FUZZY SETS AND SYSTEMS - IFSA 2003, PROCEEDINGS | 2003年 / 2715卷
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A fuzzy logic based dynamic localization and map updating algorithm for mobile robots with ring configuration is introduced. A fuzzy composite map is constructed based on the sonar readings, obtained from the robot's environment, and fit to the global map. Then, two sets of the fuzzy local composite map components are identified. The set of the matching components and the set of non-matching components. The former is used to update the current robot's location and the later is used to update the map of the robot's environment by adding new line segments. The proposed algorithm is implemented in a real environment and the results show the effectiveness of the proposed algorithm.
引用
收藏
页码：535 / 543
页数：9
相关论文
共 50 条
  • [1] Fuzzy dynamic localization for mobile robots
    Demirli, K
    Molhim, M
    [J]. FUZZY SETS AND SYSTEMS, 2004, 144 (02) : 251 - 283
  • [2] Hierarchical-map updating approach for simultaneous localization and mapping of mobile robots
    Faculty of Automation, Information Engineering, Xi'an University of Technology, Xi'an, Shaanxi, China
    [J]. Telkomnika Telecomun. Compt. Electr. Control, 1 (93-102):
  • [3] Probabilistic Fuzzy System for Uncertain Localization and Map Building of Mobile Robots
    Chen, Shuo
    Chen, Chunlin
    [J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2012, 61 (06) : 1546 - 1560
  • [4] Visual Localization for Mobile Robots Based on Composite Map
    Yu, Hung-Hsiu
    Hsieh, Hsiang-Wen
    Tasi, Yu-Kuen
    Ou, Zhi-Hung
    Huang, Yea-Shuan
    Fukuda, Toshio
    [J]. JOURNAL OF ROBOTICS AND MECHATRONICS, 2013, 25 (01) : 25 - 37
  • [5] Map-based localization for mobile robots in high-occluded and dynamic environments
    Wang, Yong
    Chen, Weidong
    Wang, Jingchuan
    [J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2014, 41 (03): : 241 - 252
  • [6] Map-based Robust Localization for Indoor Mobile Robots
    Song Jianchao
    Zhang Xuebo
    Sun Lei
    Liu Jingtai
    [J]. PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 6945 - 6950
  • [7] Sonar Grid Map Based Localization for Autonomous Mobile Robots
    Lee, Yu-Cheol
    Yu, Wonpil
    Lim, Jong-Hwan
    Chung, Wan-Kyun
    Cho, Dong-Woo
    [J]. PROCEEDINGS OF 2008 IEEE/ASME INTERNATIONAL CONFERENCE ON MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS, 2008, : 558 - +
  • [8] Real-time Navigation for Multiple Mobile Robots in Dynamic Environments based on Fuzzy Logic
    Zhao, Ran
    Lee, Dong-Hwan
    Lee, Hong-Kyu
    [J]. 2016 16TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2016, : 859 - 864
  • [9] An improved fuzzy logic based navigation system for mobile robots
    Yang, X
    Moallem, M
    Patel, RV
    [J]. IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2003, : 1709 - 1714
  • [10] Intelligent behaviors for mobile robots based on fuzzy logic control
    Zein-Sabatto, S
    Thongchai, S
    Sekmen, A
    [J]. 6TH WORLD MULTICONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL VI, PROCEEDINGS: INDUSTRIAL SYSTEMS AND ENGINEERING I, 2002, : 312 - 314
12345