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Fuzzy Logic Based Dynamic Localization and Map Updating for Mobile Robots

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Fuzzy Sets and Systems — IFSA 2003 (IFSA 2003)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2715))

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Abstract

A fuzzy logic based dynamic localization and map updating algorithm for mobile robots with ring configuration is introduced. A fuzzy composite map is constructed based on the sonar readings, obtained from the robot‐s environment, and fit to the global map. Then, two sets of the fuzzy local composite map components are identified. The set of the matching components and the set of non-matching components. The former is used to update the current robot’s location and the later is used to update the map of the robot’s environment by adding new line segments. The proposed algorithm is implemented in a real environment and the results show the effectiveness of the proposed algorithm.

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References

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Jordan University of Science and Technology, Irbid, Jordan, P.O.Box. 3030

    Mohammad Molhim

  2. Fuzzy Systems Research Laboratory, Department of Mechanical Engineering, Concordia University, Montreal, Quebec, Canada, H3G 1M8

    Kudret Demirli

Authors
  1. Mohammad Molhim
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  2. Kudret Demirli
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Editor information

Editors and Affiliations

  1. Department of Industrial Engineering, Boğaziçi University, 34342, Bebek, Istanbul, Turkey

    Taner Bilgiç

  2. Dept. of Applied Mathematics, Biometrics and Process Control, Ghent University, Coupure links 653, 9000, Gent, Belgium

    Bernard De Baets

  3. Department of Electrical and Electronics Engineering, Boğaziçi University, 34342, Bebek, Istanbul, Turkey

    Okyay Kaynak

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© 2003 Springer-Verlag Berlin Heidelberg

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Molhim, M., Demirli, K. (2003). Fuzzy Logic Based Dynamic Localization and Map Updating for Mobile Robots. In: Bilgiç, T., De Baets, B., Kaynak, O. (eds) Fuzzy Sets and Systems — IFSA 2003. IFSA 2003. Lecture Notes in Computer Science, vol 2715. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-44967-1_64

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  • DOI: https://doi.org/10.1007/3-540-44967-1_64

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-40383-8

  • Online ISBN: 978-3-540-44967-6

  • eBook Packages: Springer Book Archive

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