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Perception-based self-localization using fuzzy locations

par Saffiotti, Alessandro ;Wesley, Leonard L.P.
Référence Lecture notes in computer science, 1093, page (368-385)
Publication Publié, 1996

Article révisé par les pairs

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Résumé :

We describe a fuzzy-based approach to self localization to support indoor robot navigation. Our approach is perception-based: clues extracted by the perceptual apparatus are matched against an approximate map to obtain an estimate of the robot's location in the map. Each perceptual clue is treated as a source of partial locational information, represented by a fuzzy set; other sources, like odometry or external measurements, are also treated in this way. Information coming from different sources is combined using a fuzzy aggregation operator. We illustrate our approach by showing experiments performed on a mobile robot, Flakey.