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Sonar based mobile robot localization by using fuzzy triangulation

✍ Scribed by K. Demirli; İ.B. Türkşen

Publisher
Elsevier Science
Year
2000
Tongue
English
Weight
402 KB
Volume
33
Category
Article
ISSN
0921-8890

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✦ Synopsis

The objective of this paper is to identify the robot's location in a global map from solely sonar based information. This is achieved by using fuzzy sets to model sonar data and by using fuzzy triangulation to identify robot's position and orientation. As a result we obtain a fuzzy position region where each point in the region has a degree of certainty of being the actual position of the robot.

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