Conference Paper

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

DOI: 10.1007/11540007_115 Conference: Fuzzy Systems and Knowledge Discovery, Second International Conference, FSKD 2005, Changsha, China, August 27-29, 2005, Proceedings, Part II
Source: DBLP

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.

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