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International Conference on Fuzzy Systems and Knowledge Discovery

FSKD 2006: Fuzzy Systems and Knowledge Discovery pp 846–855Cite as

Fuzzy Likelihood Estimation Based Map Matching for Mobile Robot Self-localization

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 4223))

Abstract

Reliable self-localization is a key issue in mobile robot navigation techniques under unknown environment. Aimed at an experimental platform of mobile robot with two rocker-bogie suspensions and four drive wheels, the dead-reckoning error of the proprioceptive sensors (odometry, fiber optic gyros) and the ranging performance of the exteroceptive sensor (2D time of fight laser scanner) are analyzed in this paper. Then, the environmental map using occupancy grids is adopted to fuse the information of the robot’s pose by dead-reckoning method and the range to obstacles by laser scanner. In this condition, the map matching method, combined fuzzy logic and maximum likelihood estimation, is presented to improve mobile robot self-localization. By experiments of the robot platform, the effectiveness of this method is validated and the self-localization performance of mobile robot is enhanced.

This work is supported by the National Natural Science Foundation of China (No. 60234030).

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References

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Author information

Authors and Affiliations

  1. College of Information Science & Engineering, Central South University, 410083, Changsha Hunan, China

    Jinxia Yu, Zixing Cai & Zhuohua Duan

  2. College of Computer Science & Technology, Henan Polytechnic University, 454003, Jiaozuo Henan, China

    Jinxia Yu

  3. Department of Computer Science, Shaoguan University, 512003, Shaoguan Guangdong, China

    Zhuohua Duan

Authors
  1. Jinxia Yu
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  2. Zixing Cai
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  3. Zhuohua Duan
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Editor information

Editors and Affiliations

  1. School of Electrical and Electronic Engineering, Nanyang Technological University,, Block S1, Nanyang Avenue, 639798, Singapore

    Lipo Wang

  2. Life Science Research Center, School of Electronic Engineering, Xidian University,, 710071, Xi’an, Shaanxi, China

    Licheng Jiao

  3. School of Electrical and Electronic Engineering, Xidian University, 710071, Xi’an, China

    Guanming Shi

  4. School of Information Technology and Electrical Engineering, The University of Queensland, 4072, Brisbane, Queensland, Australia

    Xue Li

  5. College of Mathematics and Information Science, Hebei Normal University, 050016, Shijiazhuang, Hebei, P.R. China

    Jing Liu

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© 2006 Springer-Verlag Berlin Heidelberg

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Cite this paper

Yu, J., Cai, Z., Duan, Z. (2006). Fuzzy Likelihood Estimation Based Map Matching for Mobile Robot Self-localization. In: Wang, L., Jiao, L., Shi, G., Li, X., Liu, J. (eds) Fuzzy Systems and Knowledge Discovery. FSKD 2006. Lecture Notes in Computer Science(), vol 4223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11881599_104

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  • DOI: https://doi.org/10.1007/11881599_104

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-45916-3

  • Online ISBN: 978-3-540-45917-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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