Laser Pose Estimation and Tracking Using Fuzzy Extended Information Filtering for an Autonomous Mobile Robot

Authors:
Hung-Hsing Lin;Ching-Chih Tsai
Affiliations:
Department of Electrical Engineering, Hsiuping Institute of Technology, Taichung, Taiwan 41280;Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan 40227
Venue:
Journal of Intelligent and Robotic Systems
Year:
2008

Citing 3
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Abstract

This paper presents methodologies and techniques for posture estimation and tracking of an autonomous mobile robot (AMR) using a laser scanner with at least three retro-reflectors. A three-point laser triangulation method is presented to find an initial posture of the robot and then a fuzzy extended information filtering (FEIF) method is used to improve the accuracy of the robot's posture estimation. With the odometric information from the driving wheels, a FEIF-based posture tracking algorithm is proposed to continuously keep trace of the robot's posture at slow speeds. Simulation and experimental results are conducted to show the efficacy and usefulness of the proposed methods.