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Self-localization of a Mobile Robot by Local Map Matching Using Fuzzy Logic

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Book cover Fuzzy Systems and Knowledge Discovery (FSKD 2005)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 3614))

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Abstract

Reliable localization is a fundamental issue in robot navigation techniques. This paper describes an apporach for realizing self-localization of mobile robot by matching the local map generated from a 2D laser scanner. Environment map is represented by occupancy grids and it fuses the information of the robot’s pose using dead-reckoning method and the range to obstacles by laser scanner using maximum likehood estimation. After a current laser scan, the positon of mobile robot, in relation to a previous scan and pose estimates, is computed by matching the local map using fuzzy logic method. The effectiveness of this method is demonstrated by experiments.

This work is supported by the National Natural Science Foundation of China (No. 60234030).

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References

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Author information

Authors and Affiliations

  1. College of Information Science & Engineering, Central South University, 410083, Changsha, Hunan, China

    Jinxia Yu, Zixing Cai, Xiaobing Zou & Zhuohua Duan

  2. Department of Computer Science & Technology, Henan Polytechnic University, 454003, Jiaozuo, Henan, China

    Jinxia Yu

  3. Department of Computer Science, Shaoguan University, 512003, Shaoguan, Guangdong, China

    Zhuohua Duan

Authors
  1. Jinxia Yu
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  2. Zixing Cai
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  3. Xiaobing Zou
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  4. Zhuohua Duan
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Editor information

Editors and Affiliations

  1. School of Electrical and Electronic Engineering, Nanyang Technological University, Block S1, Nanyang Avenue, 639798, Singapore

    Lipo Wang

  2. Honda Research Institute Europe GmbH, Offenbach/Main, Germany

    Yaochu Jin

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© 2005 Springer-Verlag Berlin Heidelberg

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Yu, J., Cai, Z., Zou, X., Duan, Z. (2005). Self-localization of a Mobile Robot by Local Map Matching Using Fuzzy Logic. In: Wang, L., Jin, Y. (eds) Fuzzy Systems and Knowledge Discovery. FSKD 2005. Lecture Notes in Computer Science(), vol 3614. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11540007_115

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  • DOI: https://doi.org/10.1007/11540007_115

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-28331-7

  • Online ISBN: 978-3-540-31828-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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