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Abstract - A~tfo~ioriioii~
Robots and Veliicles need
accurate positioiiin<qand localixtiori ,for tlieir giridaiice.
nai-igation arid control. Oferi, ttc'o or iiiore differerit
seiisors are used to obtairi reliable data itsejirlfor control
systeni. This paper presents tlie data jicsioii systerii for
riiobile robot iicivigatioii. Odoriietr?, arid sonar signals are
fused icsirig Esreiided Kalniaii Filter- (EKF) arid Adaptive
Fuzzy Logic Systeiii (AFLS). The signals used duririg
navigation caiiiiot be always considered as nhite noise
signals. On the other hand. colored signals will cause the
EKF to diiierge. The A FLS was used to adapt the gairi arid
therefore preveiit the Kalriiari filter diiwgeiice. The fused
signal is iiiore accurate than any of rlie original signals
considered separate/!. The erilianced, more accurate
signal is used to guide and navigate the robot.
IS1F02000
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where
(3)
where d is the distance between the odometry encoder.
If the sampling period is made to limit to zero, the
kinematic model of this vehicle then can be described by
the following equations:
x(t) = v(t) COS 6 ( t )
(4)
+(r) = v(r)sin6(t)
(5)
e(1) =W(t)
(6)
Two-Wheeled Vehicle
The configuration of the two-wheeled vehicle is
presented in Figure 1. This configuration has two opposed
drive wheels mounted on the left and right sides of the
vehicle. The motion of the midpoint of the axis represents
the movement of the vehicle.
The incremental movement of the left and right
drive wheel can be formulated as:
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=xk
(8)
+B,uk
P;+, = A,P,Ar + Q k
(9)
(10)
j
~
Measurement LFLlSignal 2
I
I
Bk =
1
J
Signal 1
Measurement
and, Q, I = o f ,
= at
- x
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Q~ = ~ ~ - 2 ( k + j )
.
(22)
where a 2 1. Q and R are constant matrices of process
and measurement noise covariance. For a > I , as time k
increases, Q k and R, will decrease, which means that
the most recent measurement is given higher weighting.
If the weighted estimation covariance is defined as:
pp- =p;@
(23)
-pa-C~
Kk+i
k+l
k+l
[ck+l ~ k +-l
C T R,+i
k+l
+-I-
and
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A
zero
small
-..,
large
..
,I
'._...
,
'
.
i
-._
\...
.,
, .
, ,
,
(4):
1.1(3)?
(/?I?)
small
large
70
(111)
A
zero
small
medium
large
1
I
I
I
I
102
I 1
12
(a)
Figure 9 MF of a
Table I . Rules table for AFLS
Innovation process mean value
-'
* ----em----
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,l
Conclusions
In this paper. Extended Kalman Filter (EKF) has
been used to estimate the position of the mobile vehicle.
To prevent the filter from divergence. the innovation and
covariance of innovation process are monitored by using
Adaptive Fuzzy Logic System (AFLS). The result is an
adaptation in the gain of EKF.
Odometry and sonar sensors have been used to
simulate the method. From the simulation experiment. it
shows that beside the improvement in the estimation of
position. the method can also be used to correct the
systematic error. Using this method, real-time operation of
the vehicle can be reduced.
I
1
10
x P O l b O (meter)
I.
4
5
6
x Position (meter)
.I
10
3:
I
I
5
6
x Posnan (meter)
10
References
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