Fuzzy-logic-assisted interacting multiple model (FLAIMM) for mobile robot localization

  • Authors:

  • Hyoungki Lee;Jongdae Jung;Kiwan Choi;Jiyoung Park;Hyun Myung

  • Affiliations:

  • Microsystems Lab., SAIT, Samsung Electronics, Yongin, Republic of Korea;Urban Robotics Lab., KAIST, Daejeon, Republic of Korea;Microsystems Lab., SAIT, Samsung Electronics, Yongin, Republic of Korea;Microsystems Lab., SAIT, Samsung Electronics, Yongin, Republic of Korea;Urban Robotics Lab., KAIST, Daejeon, Republic of Korea

  • Venue:
  • Robotics and Autonomous Systems
  • Year:
  • 2012

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Abstract

Improvement of dead reckoning accuracy is essential for robotic localization systems and has been intensively studied. However, existing solutions cannot provide accurate positioning when a robot suffers from changing dynamics such as wheel slip. In this paper, we propose a fuzzy-logic-assisted interacting multiple model (FLAIMM) framework to detect and compensate for wheel slip. Firstly, two different types of extended Kalman filter (EKF) are designed to consider both no-slip and slip dynamics of mobile robots. Then a fuzzy inference system (FIS) model for slip estimation is constructed using an adaptive neuro-fuzzy inference system (ANFIS). The trained model is utilized along with the two EKFs in the FLAIMM framework. The approach is evaluated using real data sets acquired with a robot driving in an indoor environment. The experimental results show that our approach improves position accuracy and works better in slip detection and compensation compared to the conventional multiple model approach.