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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ching-Chih Tsai Hung-Hsing Lin |
| Copyright Year | 2006 |
| Description | Author affiliation: Dept. of Electr. Eng., Nat. Chung Hsing Univ., Taichung (Ching-Chih Tsai; Hung-Hsing Lin) |
| Abstract | This paper presents an improved global localization method and an improved pose tracking approach for an indoor autonomous mobile robot (AMR) with ultrasonic and laser scanning measurements using a fuzzy extended information filtering scheme. An ultrasonic self-localization system, consisting of two ultrasonic transmitters and three receivers, is presented to estimate both the unknown global position and orientation of the AMR in a world frame, and a fuzzy adaptive extended information filter (FAEIF) is proposed to improve estimation accuracy for the ultrasonic localization system. With the odometric data from the driving wheels and the laser scanning measurements from the robot's surrounding, a FAEIF-based pose tracking algorithm is proposed to continuously keep track of the robot's poses at slow speeds less than 100 cm/sec. The proposed algorithms were implemented using an industrial personal computer with a computation speed of 800MHz, and standard C++ programming techniques. The system prototype together with experimental results has been used to confirm the merit of the proposed methods in comparison with the well-known EIF |
| Starting Page | 1813 |
| Ending Page | 1818 |
| File Size | 433231 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780397975 |
| DOI | 10.1109/CACSD-CCA-ISIC.2006.4776916 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2006-10-04 |
| Publisher Place | Germany |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Ultrasonic variables measurement Service robots Transmitters Wheels Information filters Computer industry Information filtering Mobile robots Velocity measurement Fuzzy systems |
| Content Type | Text |
| Resource Type | Article |
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