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

Chandima Dedduwa Pathiranage; Lanka Udawatta; Keigo Watanabe; Kiyotaka Izumi

doi:10.1109/ICIAFS.2007.4544782

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

Chandima Dedduwa Pathiranage, Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi

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

3 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 observation for nonlinear system is adopted to represent the process and measurement models of the vehicle-landmarks system. The complete system of the vehicle-landmarks 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 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 2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS
Pages	70-75
Number of pages	6
DOIs	https://doi.org/10.1109/ICIAFS.2007.4544782
Publication status	Published - Dec 1 2007
Externally published	Yes
Event	2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS - Melbourne, Australia Duration: Dec 4 2007 → Dec 6 2007

Publication series

Name	Proceedings of the 2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS

Other

Other	2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS
Country	Australia
City	Melbourne
Period	12/4/07 → 12/6/07

ASJC Scopus subject areas

Information Systems
Electrical and Electronic Engineering

Access to Document

10.1109/ICIAFS.2007.4544782

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Cite this

Pathiranage, C. D., Udawatta, L., Watanabe, K., & Izumi, K. (2007). A fuzzy logic based approach to the SLAM problem using pseudolinear models with two sensors data association. In Proceedings of the 2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS (pp. 70-75). [4544782] (Proceedings of the 2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS). https://doi.org/10.1109/ICIAFS.2007.4544782

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

Proceedings of the 2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS. 2007. p. 70-75 4544782 (Proceedings of the 2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS).

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

Pathiranage, CD, Udawatta, L, Watanabe, K & Izumi, K 2007, A fuzzy logic based approach to the SLAM problem using pseudolinear models with two sensors data association. in Proceedings of the 2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS., 4544782, Proceedings of the 2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS, pp. 70-75, 2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS, Melbourne, Australia, 12/4/07. https://doi.org/10.1109/ICIAFS.2007.4544782

Pathiranage CD, Udawatta L, Watanabe K, Izumi K. A fuzzy logic based approach to the SLAM problem using pseudolinear models with two sensors data association. In Proceedings of the 2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS. 2007. p. 70-75. 4544782. (Proceedings of the 2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS). https://doi.org/10.1109/ICIAFS.2007.4544782

Pathiranage, Chandima Dedduwa ; Udawatta, Lanka ; Watanabe, Keigo ; Izumi, Kiyotaka. / A fuzzy logic based approach to the SLAM problem using pseudolinear models with two sensors data association. Proceedings of the 2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS. 2007. pp. 70-75 (Proceedings of the 2007 3rd International Conference on Information and Automation for Sustainability, ICIAFS).

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