Cooperative self-localization in a multi-robot-no-landmark scenario using fuzzy logic

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dc.contributorLangari, Reza
dc.creatorSinha, Dhirendra Kumar
dc.date.accessioned2005-02-17T20:59:56Z
dc.date.accessioned2017-04-07T19:49:26Z
dc.date.available2005-02-17T20:59:56Z
dc.date.available2017-04-07T19:49:26Z
dc.date.created2004-12
dc.date.issued2005-02-17
dc.description.abstractIn this thesis, we develop a method using fuzzy logic to do cooperative localization. In a group of robots, at a given instant, each robot gives crisp pose estimates for all the other robots. These crisp pose values are converted to fuzzy membership functions based on various physical factors like acceleration of the robot and distance of separation of the two robots. For a given robot, all these fuzzy estimates are taken and fused together using fuzzy fusion techniques to calculate a possibility distribution function of the pose values. Finally, these possibility distributions are defuzzified using fuzzy techniques to find a crisp pose value for each robot. A MATLAB code is written to simulate this fuzzy logic algorithm. A Kalman filter approach is also implemented and then the results are compared qualitatively and quantitatively.
dc.identifier.urihttp://hdl.handle.net/1969.1/1379
dc.language.isoen_US
dc.publisherTexas A&M University
dc.subjectlocalization
dc.subjectcooperative localization
dc.subjectpose
dc.subjectfuzzy logic
dc.subjectexteroceptive sensors
dc.subjectproprioceptive sensors
dc.titleCooperative self-localization in a multi-robot-no-landmark scenario using fuzzy logic
dc.typeBook
dc.typeThesis

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