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Improved global localization of an indoor mobile robot via fuzzy extended information filtering
Published online by Cambridge University Press: 01 March 2008
Summary
Global localization of mobile robots has been well studied using the extended Kalman filter (EKF) method. This paper presents a fuzzy extended information filtering (FEIF) approach to improving global localization of an indoor autonomous mobile robot with ultrasonic and laser scanning measurements. A real-time FEIF algorithm is proposed to improve accuracy of static global pose estimation via multiple ultrasonic data. By fusing odometric, ultrasonic, and laser scanning data, a real-time FEIF-based pose tracking algorithm is developed to improve accuracy of the robot's continuous poses. Several experimental results are performed to confirm the efficacy of the proposed methods.
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- Copyright © Cambridge University Press 2007
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