Sonar based mobile robot localization by using fuzzy triangulation
The objective of this paper is to identify the robot’s location in a global map from solely sonar based information. This is achieved by using fuzzy sets to model sonar data and by using fuzzy triangulation to identify robot’s position and orientation. As a result we obtain a fuzzy position region w...
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Published in | Robotics and autonomous systems Vol. 33; no. 2; pp. 109 - 123 |
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Main Authors | , |
Format | Journal Article |
Language | English |
Published |
Elsevier B.V
30.11.2000
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Subjects | |
Online Access | Get full text |
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Summary: | The objective of this paper is to identify the robot’s location in a global map from solely sonar based information. This is achieved by using fuzzy sets to model sonar data and by using fuzzy triangulation to identify robot’s position and orientation. As a result we obtain a fuzzy position region where each point in the region has a degree of certainty of being the actual position of the robot. |
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ISSN: | 0921-8890 1872-793X |
DOI: | 10.1016/S0921-8890(00)00082-8 |