Cooperative self-localization in a multi-robot-no-landmark scenario using fuzzy logic /
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| Other Authors: | |
| Format: | Thesis eBook |
| Language: | English |
| Published: |
[College Station, Tex.] :
[Texas A&M University],
[2005]
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| Subjects: | |
| Online Access: | Link to OAK Trust copy |
| Abstract: | In 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. |
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| Item Description: | "Major Subject: Mechanical Engineering" Title from author supplied metadata (automated record created on Feb. 17, 2005.) Vita. Abstract. Electronic resource. |
| Format: | Mode of access: World Wide Web. System requirements: World Wide Web access and Adobe Acrobat Reader. |
| Bibliography: | Includes bibliographical references. |