Fuzzy adaptive particle filter for a positioning beacon system

Young Joong Kim, Chan Hee Won, Jung Min Park, Daehie Hong, Myo Taeg Lim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper focuses on the localization problem that is to design and deploy an active beacon system specifically for the target environment. Most problems in the localization are due to uncertainties in the modeling and sensors. Therefore, various filters are developed to estimate the states in noisy information. Recently, particle filter is issued widely because it can be applied to a nonlinear model and a non-Gaussian noise. In this paper, a fuzzy adaptive particle filter is proposed for a positioning beacon system. The basic idea is to generate samples at the high-likelihood using a fuzzy logic approach. The method brings out the improvement of an accuracy of estimation. In addition, this paper presents the localization method for a mobile robot with active ultrasonic beacon systems. For comparison purposes, we test a conventional adaptive particle filter method and our proposed method. Experimental results show that the proposed method can improve the localization performance.

Original languageEnglish
Title of host publicationICCAS 2007 - International Conference on Control, Automation and Systems
Pages1198-1202
Number of pages5
DOIs
Publication statusPublished - 2007 Dec 1
EventInternational Conference on Control, Automation and Systems, ICCAS 2007 - Seoul, Korea, Republic of
Duration: 2007 Oct 172007 Oct 20

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2007
CountryKorea, Republic of
CitySeoul
Period07/10/1707/10/20

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Keywords

  • Active ultrasonic beacon
  • Adaptive particle filter
  • Fuzzy logic
  • Positioning beacon system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kim, Y. J., Won, C. H., Park, J. M., Hong, D., & Lim, M. T. (2007). Fuzzy adaptive particle filter for a positioning beacon system. In ICCAS 2007 - International Conference on Control, Automation and Systems (pp. 1198-1202). [4406516] https://doi.org/10.1109/ICCAS.2007.4406516