ADAPTIVE FUZZY LOGIC SYSTEM FOR SENSOR FUSION IN DEAD-RECKONING MOBILE ROBOT NAVIGATION

Abstract This paper presents the sensor fusion for dead-reckoning mobile robot navigation. Odometry and sonar measurement signals are fused together using Extended Kalman Filter (EKF) and Adaptive Fuzzy Logic System (AFLS). Two methods of adaptation scheme are used, the first one uses Q and R , the second one only uses Q . The first method gives faster result than the second one. The fused signal is more accurate than any of the original signals considered separately. The enhanced, more accurate signal is used to guide and navigate the robot.

[1]  Liqiang Feng,et al.  Measurement and correction of systematic odometry errors in mobile robots , 1996, IEEE Trans. Robotics Autom..

[2]  Phillip J. McKerrow,et al.  Introduction to robotics , 1991 .

[3]  Jerzy Z. Sasiadek,et al.  Sensor fusion based on fuzzy Kalman filtering for autonomous robot vehicle , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[4]  Salvatore Nicosia,et al.  Trajectory Estimation and Correction for a Wheeled Mobile Robot Using Heterogeneous Sensors and Kalman Filter , 1997 .

[5]  Jurek Z. Sasiadek,et al.  Odometry and Sonar Data Fusion for Mobile Robot Navigation , 2000 .

[6]  Sauro Longhi,et al.  Development and experimental validation of an adaptive extended Kalman filter for the localization of mobile robots , 1999, IEEE Trans. Robotics Autom..

[7]  Gaurav S. Sukhatme,et al.  Circumventing dynamic modeling: evaluation of the error-state Kalman filter applied to mobile robot localization , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[8]  Shraga Shoval,et al.  Odometry and triangulation data fusion for mobile-Robots environment recognition , 1998 .

[9]  Sauro Longhi,et al.  Development and Experimental Validation of an Adaptive Estimation Algorithm for the On-Line Localization of Mobile Robots by Multisensor Fusion , 1997 .

[10]  Eam Khwang Teoh,et al.  Multi-sensor fusion for steerable four-wheeled industrial vehicles , 1999 .

[11]  Chih-Ming Wang.  Location Estimation and Uncertainty Analysis for Mobile Robots , 1990, Autonomous Robot Vehicles.

[12]  Sauro Longhi,et al.  Localization of a wheeled mobile robot by sensor data fusion based on a fuzzy logic adapted Kalman filter , 1998 .