Abstract
We describe a fuzzy-based approach to self localization to support indoor robot navigation. Our approach is perception-based: clues extracted by the perceptual apparatus are matched against an approximate map to obtain an estimate of the robot's location in the map. Each perceptual clue is treated as a source of partial locational information, represented by a fuzzy set; other sources, like odometry or external measurements, are also treated in this way. Information coming from different sources is combined using a fuzzy aggregation operator. We illustrate our approach by showing experiments performed on a mobile robot, Flakey.
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© 1996 Springer-Verlag Berlin Heidelberg
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Saffiotti, A., Wesley, L.P. (1996). Perception-based self-localization using fuzzy locations. In: Dorst, L., van Lambalgen, M., Voorbraak, F. (eds) Reasoning with Uncertainty in Robotics. RUR 1995. Lecture Notes in Computer Science, vol 1093. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0013973
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DOI: https://doi.org/10.1007/BFb0013973
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