Cooperative Self Localization In A Multi Robot No Landmark Scenario Using Fuzzy Logic
Download and Read Cooperative Self Localization In A Multi Robot No Landmark Scenario Using Fuzzy Logic full books in PDF, ePUB, and Kindle. Read online free Cooperative Self Localization In A Multi Robot No Landmark Scenario Using Fuzzy Logic ebook anywhere anytime directly on your device. We cannot guarantee that every ebooks is available!
Cooperative Self-localization in a Multi-robot-no-landmark Scenario Using Fuzzy Logic
Author | : Dhirendra Kumar Sinha |
Publisher | : |
Total Pages | : |
Release | : 2005 |
Genre | : |
ISBN | : |
Download Cooperative Self-localization in a Multi-robot-no-landmark Scenario Using Fuzzy Logic Book in PDF, Epub and Kindle
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.
Cooperative Self-localization in a Multi-robot-no-landmark Scenario Using Fuzzy Logic Related Books
Pages:
Pages: 316
Pages: 217
Pages: 274
Pages: 731