Cooperative self-localization in a multi-robot-no-landmark scenario using fuzzy logic
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.
Subject
localizationcooperative localization
pose
fuzzy logic
exteroceptive sensors
proprioceptive sensors
Citation
Sinha, Dhirendra Kumar (2004). Cooperative self-localization in a multi-robot-no-landmark scenario using fuzzy logic. Master's thesis, Texas A&M University. Texas A&M University. Available electronically from https : / /hdl .handle .net /1969 .1 /1379.