Fuzzy adaptive particle filter for localization of a mobile robot

Young Joong Kim, Chan H. Won, Jung M. Pak, Myo Taeg Lim

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

6 Citations (Scopus)

Abstract

Localization is one of the important topics in robotics and it is essential to execute a mission. Most problems in the class of local- . ization 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, whose 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 ultrasonic beacon systems. For comparison purposes, we test a conventional particle filter method and our proposed method. Experimental results show that the proposed method has better localization performance.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages41-48
Number of pages8
Volume4694 LNAI
EditionPART 3
Publication statusPublished - 2007 Dec 1
Event11th International Conference on Knowledge-Based and Intelligent Information and Engineering Systems, KES 2007, and 17th Italian Workshop on Neural Networks, WIRN 2007 - Vietri sul Mare, Italy
Duration: 2007 Sep 122007 Sep 14

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 3
Volume4694 LNAI
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other11th International Conference on Knowledge-Based and Intelligent Information and Engineering Systems, KES 2007, and 17th Italian Workshop on Neural Networks, WIRN 2007
CountryItaly
CityVietri sul Mare
Period07/9/1207/9/14

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Keywords

  • Fuzzy logic
  • Localization
  • Mobile robot
  • Particle filter

ASJC Scopus subject areas

  • Biochemistry, Genetics and Molecular Biology(all)
  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Kim, Y. J., Won, C. H., Pak, J. M., & Lim, M. T. (2007). Fuzzy adaptive particle filter for localization of a mobile robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (PART 3 ed., Vol. 4694 LNAI, pp. 41-48). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4694 LNAI, No. PART 3).