TY - GEN
T1 - A fuzzy Kalman filter approach to the SLAM problem of nonholonomic mobile robots
AU - Watanabe, Keigo
AU - Dedduwa Pathiranage, Chandima
AU - Izumi, Kiyotaka
PY - 2008/12/1
Y1 - 2008/12/1
N2 - 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.
AB - 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.
KW - Fuzzy and neural systems relevant to control and identification
KW - Robust fuzzy control
UR - http://www.scopus.com/inward/record.url?scp=79961018380&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79961018380&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.0942
DO - 10.3182/20080706-5-KR-1001.0942
M3 - Conference contribution
AN - SCOPUS:79961018380
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -