Improved Global Localization and Pose Tracking of an Autonomous Mobile Robot Via Fuzzy Adaptive Extended Information Filtering

2006 ◽  
Author(s):  
Ching-chih Tsai ◽  
Hung-hsing Lin
Keyword(s):  
Mobile Robot ◽  
Information Filtering ◽  
Autonomous Mobile Robot ◽  
Global Localization ◽  
Pose Tracking ◽  
Fuzzy Adaptive

Improved global localization of an indoor mobile robot via fuzzy extended information filtering

Robotica ◽  
2008 ◽  
Vol 26 (2) ◽  
pp. 241-254 ◽  
Author(s):  
Hung-Hsing Lin ◽  
Ching-Chih Tsai
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Pose Estimation ◽  
Laser Scanning ◽  
Information Filtering ◽  
Autonomous Mobile Robot ◽  
Global Localization ◽  
Pose Tracking ◽  
Indoor Mobile Robot ◽  
Improve Accuracy

SUMMARYGlobal localization of mobile robots has been well studied using the extended Kalman filter (EKF) method. This paper presents a fuzzy extended information filtering (FEIF) approach to improving global localization of an indoor autonomous mobile robot with ultrasonic and laser scanning measurements. A real-time FEIF algorithm is proposed to improve accuracy of static global pose estimation via multiple ultrasonic data. By fusing odometric, ultrasonic, and laser scanning data, a real-time FEIF-based pose tracking algorithm is developed to improve accuracy of the robot's continuous poses. Several experimental results are performed to confirm the efficacy of the proposed methods.

Control of Autonomous Mobile Robot Using Map Matching with Optimized Search Range

2013 ◽  
Vol 133 (5) ◽  
pp. 502-509 ◽  
Author(s):  
Kouhei Komiya ◽  
Shunsuke Miyashita ◽  
Yutaka Maruoka ◽  
Yutaka Uchimura
Keyword(s):  
Mobile Robot ◽  
Map Matching ◽  
Autonomous Mobile Robot ◽  
Search Range
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