NDLI: A Neuro-Fuzzy Assisted Extended Kalman Filter-Based Approach for Simultaneous Localization and Mapping (SLAM) Problems

Content Provider	IEEE Xplore Digital Library
Author	Chatterjee, A. Matsuno, F.
Copyright Year	1993
Abstract	Extended Kalman filter (EKF) has been a popular choice to solve simultaneous localization and mapping (SLAM) problems for mobile robots or vehicles. However, the performance of the EKF depends on the correct a priori knowledge of process and sensor/measurement noise covariance matrices (Q and R, respectively). Imprecise knowledge of these statistics can cause significant degradation in performance. The present paper proposes the development of a new neurofuzzy based adaptive Kalman filtering algorithm for simultaneous localization and mapping of mobile robots or vehicles, which attempts to estimate the elements of the R matrix of the EKF algorithm, at each sampling instant when a ldquomeasurement updaterdquo step is carried out. The neuro-fuzzy based supervision for the EKF algorithm is carried out with the aim of reducing the mismatch between the theoretical and the actual covariance of the innovation sequences. The free parameters of the neuro-fuzzy system are learned offline, by employing particle swarm optimization in the training phase, which configures the training problem as a high-dimensional stochastic optimization problem. By employing a mobile robot to localize and simultaneously acquire the map of the environment, under several benchmark environment situations with varying landmarks and under several conditions of wrong knowledge of sensor statistics, the performance of the proposed scheme has been evaluated. It has been successfully demonstrated that in each case, the neuro-fuzzy assistance is able to improve highly unpredictable, degrading performance of the EKF and can provide robust and accurate solutions.
Sponsorship	IEEE Computational Intelligence Society
Starting Page	984
Ending Page	997
Page Count	14
File Size	1295474
File Format	PDF
ISSN	10636706
Volume Number	15
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Kalman filters Mobile robots Vehicles Covariance matrix Statistics Degradation Filtering algorithms Q measurement Noise measurement simultaneous localization and mapping (SLAM) problem Extended Kalman filter (EKF) neuro-fuzzy assistance sensor statistics
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Artificial Intelligence Control and Systems Engineering Computational Theory and Mathematics

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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