Fuzzy logic based dynamic localization and map updating for mobile robots

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.