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 proceedingConference 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 languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume17
Edition1 PART 1
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: Jul 6 2008Jul 11 2008

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period7/6/087/11/08

Fingerprint

Kalman filters
Mobile robots
Control nonlinearities
Nonlinear systems

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Watanabe, K., Dedduwa Pathiranage, C., & Izumi, K. (2008). A fuzzy Kalman filter approach to the SLAM problem of nonholonomic mobile robots. In IFAC Proceedings Volumes (IFAC-PapersOnline) (1 PART 1 ed., Vol. 17) 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.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 17 1 PART 1. ed. 2008.

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

Watanabe, K, Dedduwa Pathiranage, C & Izumi, K 2008, A fuzzy Kalman filter approach to the SLAM problem of nonholonomic mobile robots. in IFAC Proceedings Volumes (IFAC-PapersOnline). 1 PART 1 edn, 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
Watanabe K, Dedduwa Pathiranage C, Izumi K. A fuzzy Kalman filter approach to the SLAM problem of nonholonomic mobile robots. In IFAC Proceedings Volumes (IFAC-PapersOnline). 1 PART 1 ed. Vol. 17. 2008 https://doi.org/10.3182/20080706-5-KR-1001.0942
Watanabe, Keigo ; Dedduwa Pathiranage, Chandima ; Izumi, Kiyotaka. / A fuzzy Kalman filter approach to the SLAM problem of nonholonomic mobile robots. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 17 1 PART 1. ed. 2008.
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