A fuzzy logic based approach to the SLAM problem using pseudolinear models with multiframe data association

Chandima Dedduwa Pathiranage; Keigo Watanabe; Kiyotaka Izumi

A fuzzy logic based approach to the SLAM problem using pseudolinear models with multiframe data association

Chandima Dedduwa Pathiranage, Keigo Watanabe, Kiyotaka Izumi

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

Abstract

This paper presents an alternative solution to simultaneous localization and mapping (SLAM) problem by applying a fuzzy Kalman filter using pseudolinear process and measurement models. Takagi-Sugeno (T-S) fuzzy model based on observation for nonlinear system is adopted to represent the process and measurement models of the vehicle-landmarks system. Using the Kalman filter theory, each local T-S 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 prove that the new approach results in more anticipated performances, 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 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
Pages	767-770
Number of pages	4
Publication status	Published - Dec 1 2008
Externally published	Yes
Event	13th International Symposium on Artificial Life and Robotics, AROB 13th'08 - Oita, Japan Duration: Jan 31 2008 → Feb 2 2008

Publication series

Name	Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08

Other

Other	13th International Symposium on Artificial Life and Robotics, AROB 13th'08
Country	Japan
City	Oita
Period	1/31/08 → 2/2/08

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction

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Cite this

Pathiranage, C. D., Watanabe, K., & Izumi, K. (2008). A fuzzy logic based approach to the SLAM problem using pseudolinear models with multiframe data association. In Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08 (pp. 767-770). (Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08).

A fuzzy logic based approach to the SLAM problem using pseudolinear models with multiframe data association. / Pathiranage, Chandima Dedduwa; Watanabe, Keigo; Izumi, Kiyotaka.

Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08. 2008. p. 767-770 (Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08).

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

Pathiranage, CD, Watanabe, K & Izumi, K 2008, A fuzzy logic based approach to the SLAM problem using pseudolinear models with multiframe data association. in Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08. Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08, pp. 767-770, 13th International Symposium on Artificial Life and Robotics, AROB 13th'08, Oita, Japan, 1/31/08.

Pathiranage, Chandima Dedduwa ; Watanabe, Keigo ; Izumi, Kiyotaka. / A fuzzy logic based approach to the SLAM problem using pseudolinear models with multiframe data association. Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08. 2008. pp. 767-770 (Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08).

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