Fuzzy logic based nonlinear Kalman filter applied to mobile robots modelling

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dc.contributor.authorCarrasco Schmidt, Rodrigo Arnaldo
dc.contributor.authorCipriano, Aldo
dc.date.accessioned2022-05-13T19:15:14Z
dc.date.available2022-05-13T19:15:14Z
dc.date.issued2004
dc.description.abstractIn order to reduce the false alarms in fault detection systems for mobile robots, accurate state estimation is needed. Through this work, a new method for localization of a mobile robot is presented. First, a Takagi-Sugeno fuzzy model of a mobile robot is determined, which is optimized using genetic algorithms, creating a precise representation of the kinematic equations of the robot. Then, the fuzzy model is used to design a new extension of the Kalman filter, based on several linear Kalman filters. Finally, the fuzzy filter is compared to the conventional extended Kalman filter, showing an improvement over the estimation made. The fuzzy filter also presents advantages in implementation, due to the fact that the covariance matrices needed are easier to estimate, increasing the estimation frequency.
dc.fuente.origenIEEE
dc.identifier.doi10.1109/FUZZY.2004.1375393
dc.identifier.isbn780383532
dc.identifier.issn1098-7584
dc.identifier.urihttps://doi.org/10.1109/FUZZY.2004.1375393
dc.identifier.urihttps://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=1375393
dc.identifier.urihttps://repositorio.uc.cl/handle/11534/63856
dc.information.autorucEscuela de ingeniería ; Carrasco Schmidt, Rodrigo Arnaldo ; S/I ;
dc.information.autorucEscuela de ingeniería ; Cipriano Zamorano, Aldo ; S/I ; 99102
dc.language.isoen
dc.nota.accesoContenido parcial
dc.publisherIEEE
dc.relation.ispartofIEEE International Conference on Fuzzy Systems (2004 : Budapest, Hungría)
dc.rightsacceso restringido
dc.subjectFuzzy logic
dc.subjectMobile robots
dc.subjectFrequency estimation
dc.subjectFilters
dc.subjectFault detection
dc.subjectState estimation
dc.subjectTakagi-Sugeno model
dc.subjectGenetic algorithms
dc.subjectKinematics
dc.subjectEquations
dc.titleFuzzy logic based nonlinear Kalman filter applied to mobile robots modellinges_ES
dc.typecomunicación de congreso
sipa.codpersvinculados99102
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