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Fuzzy Logic Based EKF for Mobile Robot Navigation: An Analysis of Different Fuzzy Membership Functions

Hamzah, Ahmad and Nur Aqilah, Othman (2016) Fuzzy Logic Based EKF for Mobile Robot Navigation: An Analysis of Different Fuzzy Membership Functions. In: 3rd International Multi-Conference on Artificial Intelligence Technology (M-CAIT 2016) , 23-24 August 2016 , Melaka, Malaysia. pp. 1-8..

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Abstract

This paper deals with the analysis of different Fuzzy membership type performance for Extended Kalman Filter(EKF) based mobile robot navigation. EKF is known to be incompetent in non-Gaussian noise condition and therefore the technique alone is not sufficient to provide solution. Motivated by this shortcoming, a Fuzzy based EKF is proposed in this paper. Three membership types are considered which includes the triangular, trapezoidal and Gaussian membership types to determine the best estimation results for mobile robot and landmarks locations. Minimal rule design and configuration are also other aspects being considered for analysis purposes. The simulation results suggest that the Gaussian memberships surpassed other membership type in providing the best solution in mobile robot navigation.

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: Mobile Robot, Navigation, Kalman Filter, Fuzzy Logic, Membership
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TL Motor vehicles. Aeronautics. Astronautics
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Prof. Madya Dr. Hamzah Ahmad
Date Deposited: 06 Sep 2016 07:45
Last Modified: 23 Oct 2017 07:51
URI: http://umpir.ump.edu.my/id/eprint/14219
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