DocumentCode
2747082
Title
Fuzzy landmark-based localization for a legged robot
Author
Buschka, P. ; Saffiotti, A. ; Wasik, Z.
Author_Institution
Dept. of Technol., Orebro Univ., Sweden
Volume
2
fYear
2000
fDate
2000
Firstpage
1205
Abstract
We describe a new technique for landmark-based self-localization which is suitable for robots with poor odometry. This technique uses fuzzy logic to account for errors and imprecision in visual recognition, and for extreme uncertainty in the estimate of the robot´s motion. It only requires an approximate model of the sensor system and a qualitative estimate of the robot´s displacement, and it has a moderate computational cost. We show examples of use of our technique on a Sony AIBO legged robot in the RoboCup domain
Keywords
computational complexity; fuzzy logic; legged locomotion; position measurement; RoboCup domain; Sony AIBO legged robot; fuzzy landmark-based localization; fuzzy logic; landmark-based self-localization; legged robot; robot motion estimation; visual recognition; Cameras; Computational efficiency; Fuzzy logic; Legged locomotion; Mobile robots; Robot sensing systems; Robot vision systems; Sensor systems; Tracking; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location
Takamatsu
Print_ISBN
0-7803-6348-5
Type
conf
DOI
10.1109/IROS.2000.893183
Filename
893183
Link To Document