A localization algorithm for autonomous mobile robots via a fuzzy tuned extended Kalman filter

Advanced Robotics

Volumn 24, Issue 1-2, 2010, Pages 179-206

  Ip, Y L ^a   Rad, A B ^b   Wong, Y K ^a   Liu, Y ^c   Ren, X M ^c  

^a HONG KONG POLYTECHNIC UNIVERSITY   (Hong Kong)

^b SIMON FRASER UNIVERSITY   (Canada)

^c BEIJING INSTITUTE OF TECHNOLOGY   (China)

Author keywords

Extended Kalman filter; Fuzzy logic; Fuzzy rule based scheme; Localization

Indexed keywords

APRIORI; AUTONOMOUS EXPLORATION; AUTONOMOUS MOBILE ROBOT; EXPERIMENTAL STUDIES; INDOOR ENVIRONMENT; LOCALIZATION ALGORITHM; LOCALIZATION METHOD; NOISE MODELS; POLAROIDS; SONAR SENSOR; SPECIFIC TASKS;

EVOLUTIONARY ALGORITHMS; EXTENDED KALMAN FILTERS; FUZZY LOGIC; FUZZY RULES; FUZZY SYSTEMS; MOBILE ROBOTS; NAVIGATION; POSITION CONTROL; UNDERWATER ACOUSTICS;

FUZZY FILTERS;

EID: 76649144502     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1163/016918609X12586197825736     Document Type: Article

References (35)

1. D. Lee, The Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot. Cambridge University Press, New York, NY (1996).
2. J. J. Leonard and H. F. Durrant-Whyte, Directed Sonar Sensing for Mobile Robot Navigation. Kluwer Academic Publishers, Cambridge, MA (1992).
3. D. Lee and W. Chung, Discrete-status-based localization for indoor service robots, IEEE Trans. Ind. Electron. 53, 1737-1746 (2006).
4. Z. Bai, Z. Yang, J. Wu and Y. Chen, Region localization based on rotational invariant feature and improved self organized map, in: Proc. 3rd Int. Conf. on Intelligent System and Knowledge Engineering, Xiamen, vol.1, pp. 703-706 (2008).
5. C.-W. Jang, K.-H. Jung, D.-S. Jung, J.-G. Ryu, J.-S. Kong, J.-H. Shim and E.-H. Lee, A study on the improved localization of a mobile robot by using scale invariant feature and odometry, in: Proc. 16th IEEE Int. Symp. on Robot and Human Interactive Communication, Jeju Island, pp. 234-239 (2007).
6. W. S. Wijesoma, L. D. L. Perera, M. D. Adams and S. Challa, An analysis of the bias correction problem in simultaneous localization and mapping, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Edmonton, pp. 747-752 (2005).
7. J. Borenstein, H. R. Everett and L. Feng, Navigating Mobile Robots: Systems and Techniques. A. K. Peters, Natick, MA (1996).
8. J. Borenstein, H. R. Everett, L. Feng and D. Wehe, Mobile robot positioning: sensors and techniques, J. Robotic Syst. 14, 231-249 (1997).
9. J.-S. Gutmann, W. Burgard, D. Fox and K. Konolige, An experimental comparison of localization methods, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Victoria, vol.2, pp. 736-743 (1998).
10. K. Park and N. Zhang, Behavior-based autonomous robot navigation on challenging terrain, a dual fuzzy logic approach, in: Proc. IEEE Symp. on Foundations of Computational Intelligence, Honolulu, HI, pp. 239-244 (2007).
11. K. K. Leung and G. Gallagher, Multi-robot localization and mapping strategy: utilizing behavior based dynamic tree structure and observer-explorer routine, in: Proc. IEEE Int. Conf. on Automation Science and Engineering, Bangalore, pp. 881-886 (2007).
12. C. Tessier, M. Berducat, R. Chapuis and F. Chausse, A new landmark and sensor selection method for vehicle localization and guidance, in: Proc. IEEE Intelligent Vehicles Symp., Istanbul, pp. 123-129 (2007).
13. G. Dudek and M. Jenkin, Computational Principles of Mobile Robotics. Cambridge University Press, New York, NY (2000).
14. Y. L. Ip, A. B. Rad, K. M. Chow and Y. K. Wong, Segment-based map building using enhanced adaptive fuzzy clustering algorithm for mobile robot applications, J. Intell. Robotic Syst. 35, 221-245 (2002).
15. X. Zhang, A. B. Rad and Y.-K. Wong, A robust regression model for simultaneous localization and mapping in autonomous mobile robot, J. Intell. Robotic Syst. 53, 183-202 (2008).
16. J. J. Leonard and H. F. Durrant-Whyte, Mobile robot localization by tracking geometric beacons, IEEE Trans. Robotics Automat. 7, 376-382 (1991).
17. J. J. Leonard, H. F. Durrant-Whyteand and I. J. Cox, Dynamic map building for an autonomous mobile robot, Int. J. Robotics Res. 11, 693-698 (1992).
18. M. D. Adams, Sensor Modeling, Design and Data Processing for Autonomous Navigation. World Scientific Publishing, Singapore (1999).
19. D. Fox,W. Burgard and S. Thrun, Markov localization for mobile robots in dynamic environments, J. Artif. Intell. Res. 11, 391-427 (1999).
20. D. Fox, Markov localization: a probabilistic framework for mobile robot localization and navigation, Doctoral Thesis, Institute of Computer Science III, University of Bonn (1998).
21. U. Larrsson, J. Forsberg and A. Wernersson, Mobile robot localization: integrating measurements from time-of-flight laser, IEEE Trans. Ind. Electron. 43, 422-431 (1996).
22. S. Thrun, D. Fox, W. Burgard and F. Dellaert, Robust Monte Carlo localization for mobile robots, Artif. Intell. 128, 99-141 (2001).
23. J. Miura and K. Yamamoto, Robust view matching-based Markov localization in outdoor environments, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Nice, pp. 2970-2976 (2008).
24. J. Hoffman, M. Spranger, D. Gohring and M. Jungel, Making use of what you don't see: negative information in Markov localization, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Edmonton, pp. 2947-2952 (2005).
25. J. Burlet, T. Fraichard and O. Aycard, Robust navigation using Markov models, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Edmonton, pp. 1247-1252 (2005).
26. A. Chatterjee and F. Matsuno, A neuro-fuzzy assisted extended Kalman filter-based approach for simultaneous localization and mapping (SLAM) problems, IEEE Trans. Fuzzy Syst. 15, 984-997 (2007).
27. L. Jetto, S. Longhi and G. Venturini, Development and experimental validation of an adaptive extended Kalman filter for localization of mobile robots, IEEE Trans. Robotics Automat. 15, 219-229 (1999).
28. Q. H. Meng, Y. C. Sun and Z. L. Cao, Adaptive extended Kalman filter (AEKF)-based mobile robot localization using sonar, Robotica 18, 450-473 (2000).
29. P. Shahmaleki and M. Mahzoon, Designing a hierarchical fuzzy controller for backing-up a four wheel autonomous robot, in: Proc. Am. Control Conf., Seattle, WA, pp. 4893-4897 (2008).
30. L. Jetto, S. Longhi and G. Venturini, Localization of a wheeled mobile robot by sensor data fusion based on a fuzzy logic adapted Kalman filter, Control Eng. Pract. 7, 763-771 (1999).
31. K. Konolige, Robot Notes (Robot Motion: Probabilistics Model; Sampling and Gaussian Implementations; Markov Localization). SRI International, http://www.ai.sri.com/∼konolige (2001).
32. C. M. Wang, Location estimation and uncertainty analysis for mobile robots, in: Proc. IEEE Int. Conf. on Robotics and Automation, Philadelphia, PA, pp. 1231-1235 (1988).
33. L. X. Wang, A Course in Fuzzy Systems and Control. Prentice-Hall, Upper Saddle River, NJ (1997).
34. R. K. Mehra, Approaches to adaptive filtering, IEEE Trans. Automatic Control 17, 693-698 (1972).
35. Saphira Manual, Version 6.2, ActivMedia Robotics, Amherst, NH (1999).