Fuzzy-based positioning for mobile robots

• Autorzy: Shen W. , Gu J. , Meng M.
• Języki publikacji: EN

Abstrakty

EN

This paper proposes fuzzy-based positioning algorithms for an iRobot B21r mobile robot, which is equipped with a 180° scanning laser rangefinder and other sensors, in an indoor environment. A novel, dynamic error model for the laser rangefinder is built with consideration of the detection distance and the detection angle. A new concept, the virtual angular point, is introduced in this paper as one of the features for positioning a mobile robot. To position a mobile robot, three kinds of feature points, such as break points, real angular points, and virtual angular points, are employed in this paper. Based on fuzzy evaluation for the accuracy of each feature point, positions obtained by two arbitrary points are fused together by the weighted mean technique, in which weight is determined by the uncertainty represented by fuzzy numbers. Experimental study has been carried out to verify the effectiveness and the accuracy of the algorithms.

Słowa kluczowe

EN

position estimation; laser rangefinder; virtual angular points

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2009
• Tom: Vol. 3, No. 3
• Strony: 3--12
• Opis fizyczny: Bibliogr. 32 poz., rys.

Twórcy

autor

Shen W.

autor

Gu J.

autor

Meng M.

• Department of Electrical and Computer Engineering, Dalhousie University, Halifax, B3J 1Z1, Canada,

Bibliografia

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