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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Bibliographic Details
Published inRobotics and autonomous systems Vol. 33; no. 2; pp. 109 - 123
Main Authors Demirli, K., Türkşen, İ.B.
Format Journal Article
LanguageEnglish
Published Elsevier B.V 30.11.2000
Subjects
Fuzzy sets
Localization
Mobile robots
Sonar
Uncertainty
Fuzzy sets
Uncertainty
Mobile robots
Localization
Sonar
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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.
ISSN:0921-8890
1872-793X
DOI:10.1016/S0921-8890(00)00082-8