A fuzzy Kalman filter approach to the SLAM problem of nonholonomic mobile robots

Keigo Watanabe; Chandima Dedduwa Pathiranage; Kiyotaka Izumi

doi:10.3182/20080706-5-KR-1001.0942

A fuzzy Kalman filter approach to the SLAM problem of nonholonomic mobile robots

Keigo Watanabe, Chandima Dedduwa Pathiranage, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

This paper presents an alternative solution to simultaneous localization and mapping (SLAM) problem by applying a fuzzy Kalman filter using a pseudolinear measurement model of nonholonomic mobile robots. Takagi-Sugeno fuzzy model based on an observation for a nonlinear system is adopted to represent the process and measurement models of the vehicle-landmark system. The complete system of the vehiclelandmark model is decomposed into several linear models. Using the Kalman filter theory, each local model is filtered to find the local estimates. The linear combination of these local estimates gives the global estimate for the complete system. The simulation results shows that the new approach performs better, though nonlinearity is directly involved in the Kalman filter equations, compared to the conventional approach.

Original language	English
Title of host publication	Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition	1 PART 1
DOIs	https://doi.org/10.3182/20080706-5-KR-1001.0942
Publication status	Published - Dec 1 2008
Externally published	Yes
Event	17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of Duration: Jul 6 2008 → Jul 11 2008

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	1 PART 1
Volume	17
ISSN (Print)	1474-6670

Other

Other	17th World Congress, International Federation of Automatic Control, IFAC
Country	Korea, Republic of
City	Seoul
Period	7/6/08 → 7/11/08

Keywords

Fuzzy and neural systems relevant to control and identification
Robust fuzzy control

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.3182/20080706-5-KR-1001.0942

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Cite this

Watanabe, K., Dedduwa Pathiranage, C., & Izumi, K. (2008). A fuzzy Kalman filter approach to the SLAM problem of nonholonomic mobile robots. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.0942

A fuzzy Kalman filter approach to the SLAM problem of nonholonomic mobile robots. / Watanabe, Keigo; Dedduwa Pathiranage, Chandima; Izumi, Kiyotaka.

Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1. ed. 2008. (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Watanabe, K, Dedduwa Pathiranage, C & Izumi, K 2008, A fuzzy Kalman filter approach to the SLAM problem of nonholonomic mobile robots. in Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. 1 PART 1, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, Korea, Republic of, 7/6/08. https://doi.org/10.3182/20080706-5-KR-1001.0942

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