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

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.

Identiferoai:union.ndltd.org:tamu.edu/oai:repository.tamu.edu:1969.1/1379
Date17 February 2005
CreatorsSinha, Dhirendra Kumar
ContributorsLangari, Reza
PublisherTexas A&M University
Source SetsTexas A and M University
Languageen_US
Detected LanguageEnglish
TypeBook, Thesis, Electronic Thesis, text
Format1159417 bytes, electronic, application/pdf, born digital

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