Abstract
This paper describes a Takagi-Sugeno (T-S) fuzzy model adopted solution to the simultaneous localization and mapping (SLAM) problem with two-sensor data association (TSDA) method. Fuzzy Kalman filtering of the SLAM problem (FKF-SLAM) is used in this paper together with newly proposed data association algorithm. An extended TSDA (ETSDA) method is introduced for the SLAM problem in mobile robot navigation based on an interior point linear programming (LP) approach. Simulation results are given to demonstrate that the ETSDA method has low computational complexity and it is more accurate than the existing single-scan joint probabilistic data association (JPDA) method.
| Original language | English |
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| Title of host publication | Proceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics |
| Pages | 244-249 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - Dec 1 2009 |
| Event | IEEE International Symposium on Industrial Electronics, IEEE ISIE 2009 - Seoul, Korea, Republic of Duration: Jul 5 2009 → Jul 8 2009 |
Publication series
| Name | IEEE International Symposium on Industrial Electronics |
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Other
| Other | IEEE International Symposium on Industrial Electronics, IEEE ISIE 2009 |
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| Country | Korea, Republic of |
| City | Seoul |
| Period | 7/5/09 → 7/8/09 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
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Watanabe, K., Pathiranage, C. D., & Izumi, K. (2009). T-S fuzzy model adopted SLAM algorithm with linear programming based data association for mobile robots. In Proceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics (pp. 244-249). [5217924] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2009.5217924