TY - GEN
T1 - A fuzzy logic based approach to the SLAM problem using pseudolinear models with multiframe data association
AU - Pathiranage, Chandima Dedduwa
AU - Watanabe, Keigo
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 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:78449258548
SN - 9784990288020
T3 - Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
SP - 767
EP - 770
BT - Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
T2 - 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
Y2 - 31 January 2008 through 2 February 2008
ER -