NDLI: Ultrasonic self-localization and pose tracking of an autonomous mobile robot via fuzzy adaptive extended information filtering

Content Provider	IEEE Xplore Digital Library
Author	Hung-Hsing Lin Ching-Chih Tsai Jui-Cheng Hsu Chih-Fu Chang
Copyright Year	2003
Description	Author affiliation: Dept. of Electr. Eng., Nat. Chung-Hsing Univ., Taichung, Taiwan (Hung-Hsing Lin; Ching-Chih Tsai; Jui-Cheng Hsu; Chih-Fu Chang)
Abstract	This paper develops methodologies and technologies for ultrasonic self-localization of an autonomous mobile robot (AMR) using a fuzzy adaptive extended information filtering scheme. A novel ultrasonic localization system consisting of two ultrasonic transmitters and three receivers, is presented to estimate both the static and dynamic position and orientation of the AMR. A fuzzy adaptive extended information filter (FAEIF) is presented to improve estimation accuracy and robustness for the proposed localization system, while the system lacks of sufficient information of complete models of the process and measurement noise varies with time. A static pose estimation utilizing the averaging approach is investigated as well. Six time-of-flight ultrasonic measurements together with the vehicle's dead-reckoned location information are merged to update the vehicle's dead-reckoned location information are merged to update the vehicle's pose by utilizing FAEIF sensor fusion algorithm. The proposed algorithm were implemented using an industrial personal computer with a computation speed of 800 MHz, and standard C++ programming techniques. The system prototype together with computer simulations and experimental results has been used to confirm that the system not only provides precise estimation of both the static and dynamic pose of the AMR, but also provides a simpler and more economical structure for navigation use and installation/calibration.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	1283
Ending Page	1290
File Size	508399
Page Count	8
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1241769
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Information filtering Vehicle dynamics Ultrasonic variables measurement Transmitters Fuzzy systems Information filters Noise robustness Noise measurement Time measurement
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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