DocumentCode :
1461046
Title :
Probabilistic Fuzzy System for Uncertain Localization and Map Building of Mobile Robots
Author :
Chen, Shuo ; Chen, Chunlin
Volume :
61
Issue :
6
fYear :
2012
fDate :
6/1/2012 12:00:00 AM
Firstpage :
1546
Lastpage :
1560
Abstract :
Precise localization and map building for mobile robots in unknown environments are fundamental and crucial issues in robotics. In this paper, to deal with unavoidable uncertainties in perception and actuation, a probabilistic fuzzy approach is applied to dead-reckoning-based localization and range measurement, respectively. Then, they are adopted to constitute a systematic map-building method. Dead reckoning in autonomous localization allows a mobile robot to determine its present position from a known past position. Unfortunately, pure dead reckoning methods are prone to accumulated errors that grow without bound over time. In addition, various unpredictable errors in distance data are also found in range measurement during exploration and map building. It is analyzed that all these kinds of errors caused by various disturbances can be classified into nonstochastic and stochastic uncertainties. A probabilistic fuzzy system is designed to reduce both of these uncertainties for more precise localization and map building. The experimental results demonstrate the success and robustness of the proposed method for more precise and reliable mobile-robot localization and map building with various unexpected disturbances.
Keywords :
fuzzy set theory; fuzzy systems; mobile robots; path planning; probability; autonomous localization; dead-reckoning-based localization; mobile robots; nonstochastic uncertainties; probabilistic fuzzy approach; probabilistic fuzzy system; range measurement; systematic map-building method; uncertain localization; Buildings; Dead reckoning; Mobile robots; Probabilistic logic; Robot kinematics; Uncertainty; Dead reckoning; localization and map building; probabilistic fuzzy system (PFS); range measurement; uncertainties;
fLanguage :
English
Journal_Title :
Instrumentation and Measurement, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9456
Type :
jour
DOI :
10.1109/TIM.2012.2186652
Filename :
6162979
Link To Document :
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