Localization of a wheeled mobile robot by sensor data fusion based on a fuzzy logic adapted Kalman filter

被引：61

作者：

Jetto, L ^{[1
]}

Longhi, S ^{[1
]}

Vitali, D ^{[1
]}

机构：

[1] Univ Ancona, Dipartimento Elettron & Automat, I-60131 Ancona, Italy

来源：

CONTROL ENGINEERING PRACTICE | 1999年 / 7卷 / 06期

关键词：

wheeled mobile robots; localization systems; sensor fusion; adaptive filtering; fuzzy logic;

D O I：

10.1016/S0967-0661(99)00028-3

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Accurate estimates of mobile robot location, if available, can be used to improve the performance of a vehicle dynamics control system. To this purpose, the data provided by odometric and sonar sensors are here fused together by means of an extended Kalman filter, providing robot position and orientation estimates at each sampling instant. To cope with the tracking of long trajectories, the performance of the filter is improved by introducing an on-line fuzzy-rule-based adaptation scheme. (C) 1999 Elsevier Science Ltd. All rights reserved.

引用

页码：763 / 771

页数：9

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