Laser pose estimation and tracking using fuzzy extended information filtering for an autonomous mobile robot

被引：7

作者：

Lin, Hung-Hsing ^{[2
]}

Tsai, Ching-Chih ^{[1
]}

机构：

[1] Natl Chung Hsing Univ, Dept Elect Engn, Taichung 40227, Taiwan

[2] Hsiuping Inst Technol, Dept Elect Engn, Taichung 41280, Taiwan

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2008年 / 53卷 / 02期

关键词：

extended information filtering (EIF); fuzzy logics; laser scanner; mobile robot; self-localization; posture tracking; sensor fusion;

D O I：

10.1007/s10846-008-9234-5

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents methodologies and techniques for posture estimation and tracking of an autonomous mobile robot (AMR) using a laser scanner with at least three retro-reflectors. A three-point laser triangulation method is presented to find an initial posture of the robot and then a fuzzy extended information filtering (FEIF) method is used to improve the accuracy of the robot's posture estimation. With the odometric information from the driving wheels, a FEIF-based posture tracking algorithm is proposed to continuously keep trace of the robot's posture at slow speeds. Simulation and experimental results are conducted to show the efficacy and usefulness of the proposed methods.

引用

页码：119 / 143

页数：25

共 50 条

[1] Laser Pose Estimation and Tracking Using Fuzzy Extended Information Filtering for an Autonomous Mobile Robot
Hung-Hsing Lin
Ching-Chih Tsai
Journal of Intelligent and Robotic Systems, 2008, 53 : 119 - 143
[2] Laser pose tracking for a mobile robot using fuzzy adaptive extended information filtering
Chang, CF
Tsai, CC
Hsu, JC
Lin, CC
PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2003, : 2471 - 2476
[3] Ultrasonic localization and pose tracking of an autonomous mobile robot via fuzzy adaptive extended information filtering
Lin, Hung-Hsing
Tsai, Ching-Chih
Hsu, Jui-Cheng
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2008, 57 (09) : 2024 - 2034
[4] Improved global localization and pose tracking of an autonomous mobile robot via fuzzy adaptive extended information filtering
Tsai, Ching-Chih
Lin, Hung-Hsing
PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-4, 2006, : 1137 - 1142
[5] Ultrasonic self-localization and pose tracking of an autonomous mobile robot via fuzzy adaptive extended information filtering
Lin, HH
Tsai, CC
Hsu, JC
Chang, CF
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2003, : 1283 - 1290
[6] Global Pose Localization of an Autonomous Wheeled Mobile Robot by Fusing Active RFID and Ranging Laser Scanner: a Fuzzy Extended Information Filtering Approach
Lin, Hung-Hsing
Tsai, Ching-Chih
Li, Yi-Yu
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, 2008, : 2840 - +
[7] FUZZY DECENTRALIZED EIF-BASED POSE TRACKING FOR AUTONOMOUS OMNIDIRECTIONAL MOBILE ROBOT
Tsail, Ching-Chih
Wang, Xiao-Ci
Tal, Feng-Chun
Chan, Chun-Chieh
PROCEEDINGS OF 2014 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS (ICMLC), VOL 2, 2014, : 748 - 754
[8] FUZZY TRAJECTORY TRACKING FOR AN AUTONOMOUS MOBILE ROBOT
Fernandez Carames, Carlos
Moreno Rodilla, Vidal
Curto Diego, Belen
Vicente Lober, Jose Andres
ICINCO 2009: PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 1: INTELLIGENT CONTROL SYSTEMS AND OPTIMIZATION, 2009, : 359 - 362
[9] Posture estimation and tracking of an autonomous mobile robot using a laser scanner with retro-reflectors
Tsai, Ching-Chih
Lin, Hung-Hsing
Hsu, Jui-Cheng
JOURNAL OF THE CHINESE INSTITUTE OF ENGINEERS, 2007, 30 (01) : 103 - 114
[10] Improved global localization of an indoor mobile robot via fuzzy extended information filtering
Lin, Hung-Hsing
Tsai, Ching-Chih
ROBOTICA, 2008, 26 : 241 - 254

← 1 2 3 4 5 →