Abstract
In this work, a novel method called Fuzzy Reverse Monte Carlo Localization (Fuzzy R-MCL) for global localization of autonomous mobile agents in the robotic soccer domain is proposed to overcome the uncertainty in the sensors, environment and the motion model. R-MCL is a hybrid method based on both Markov Localization(ML) and Monte Carlo Localization(MCL) where the ML module finds the region where the robot should be and MCL predicts the geometrical location with high precision by selecting samples in this region. In this work, a fuzzy approach is embedded in this method, to improve flexibility, accuracy and robustness. In addition to using Fuzzy membership functions in modeling the uncertainty of the grid cells and samples, different heuristics are used to enable the adaptation of the method to different levels of noise and sparsity. The method is very robust and fast and requires less computational power and memory compared to similar approaches and is accurate enough for high level decision making which is vital for robot soccer.
Chapter PDF
Similar content being viewed by others
References
Burgard, W., Fox, D., Hennig, D., Schmidt, T.: Estimating the Absolute Position of a Mobile Robot Using Position Probability Grids. In: Institut für Informatik III., Universtiat Bonn, Proc. of the Fourteenth National Conference on Artificial Intelligence (AAAI 1996) (1996)
Thrun, S., Fox, D., Burgard, W., Dellaert, F.: Robust Monte Carlo Localization for Mobile Robots. Artificial Intelligence 128, 99–141 (2001)
Gutmann, J.S., Fox, D.: An Experimental Comparison of Localization Methods Continued. In: Proc. of the 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2002), pp. 454–459 (2002)
Cerberus, Team Web Site (2005), http://robot.cmpe.boun.edu.tr/aibo/home.php3
Sony Four-Legged Robot League, Soccer Rules (2005), http://www.tzi.de/4legged/pub/Website/History/Rules2005.pdf
Köse, H., Akın, H.L.: Robots from nowhere. In: Nardi, D., Riedmiller, M., Sammut, C., Santos-Victor, J. (eds.) RoboCup 2004. LNCS, vol. 3276, pp. 594–601. Springer, Heidelberg (2005)
Kose, H., Akin, H.L.: Experimental Analysis and Comparison of Reverse-Monte Carlo Self-Localization Method. In: Proceedings of CLAWAR/EURON Workshop on Robots in Entertainment, Leisure and Hobby, Vienna, Austria, December 2-4 (2004)
Stroupe, A.W., Balch, T.: Collaborative Probabilistic Constraint Based Landmark Localization. In: Proceedings of the 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2002), pp. 447–452 (2002)
Stroupe, A.W., Sikorski, K., Balch, T.: Constraint-Based Landmark Localization. In: Kaminka, G.A., Lima, P.U., Rojas, R. (eds.) RoboCup 2002. LNCS, vol. 2752, pp. 8–24. Springer, Heidelberg (2003)
Fox, D., Burgard, W., Thrun, S.: Markov Localization for Mobile Robots in Dynamic Environments. Journal of Artificial Intelligence Research 11, 391–427 (1999)
Schulz, D., Burgard, W.: Probabilistic State Estimation of Dynamic Objects with a Moving Mobile Robot. Robotics and Autonomous Systems 34, 107–115 (2001)
Lenser, S., Veloso, M.: Sensor Resetting Localization for Poorly Modelled Mobile Robots. In: Proceedings of ICRA 2000, pp. 1225–1232. IEEE, Los Alamitos (2000)
Kristensen, S., Jensfelt, P.: An Experimental Comparison of Localisation Methods, the MHL Sessions. In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), pp. 992–997 (2003)
Buschka, P., Saffiotti, A., Wasik, Z.: Fuzzy Landmark-Based Localization for a Legged Robot. In: Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Takamatsu, Japan, pp. 1205–1210 (2000)
Kose, H., Bayhan, S., Akin, H.L.: A Fuzzy Approach to Global Localization in the Robot Soccer Domain. In: IJCI Proceedings of International XII Turkish Symposium on Artificial Intelligence and Neural Networks (TAINN 2003), vol. 1(1), pp. 1–7 (July 2003) ISSN 1304-2386
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Köse, H., Akın, H.L. (2006). A Fuzzy Touch to R-MCL Localization Algorithm. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds) RoboCup 2005: Robot Soccer World Cup IX. RoboCup 2005. Lecture Notes in Computer Science(), vol 4020. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11780519_37
Download citation
DOI: https://doi.org/10.1007/11780519_37
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-35437-6
Online ISBN: 978-3-540-35438-3
eBook Packages: Computer ScienceComputer Science (R0)