Fuzzy landmark-based localization for a legged robot
نویسندگان
چکیده
We describe a new technique for landmark-based self-localization which is suitable for robots with poor odom-etry. This technique uses fuzzy logic to account for errors and imprecision in visual recognition, and for extreme uncertainty in the estimate of the robot's motion. It only requires an approximate model of the sensor system and a qualitative estimate of the robot's displacement , and it has a moderate computational cost. We show examples of use of our technique on a Sony AIBO legged robot in the RoboCup domain.
منابع مشابه
Effects of Moving Landmark’s Speed on Multi-Robot Simultaneous Localization and Mapping in Dynamic Environments
Even when simultaneous localization and mapping (SLAM) solutions have been broadly developed, the vast majority of them relate to a single robot performing measurements in static environments. Researches show that the performance of SLAM algorithms deteriorates under dynamic environments. In this paper, a multi-robot simultaneous localization and mapping (MR-SLAM) system is implemented within a...
متن کاملTeam Chaos 2004
“Team Chaos” (formerly Team Sweden) is a multi-university team which has been competing in the 4-legged robot league of RoboCup since 1999. This paper shortly describes the Team Chaos entry for RoboCup 2004. The most distinctive points of our team are: (i) a general, principled architecture for autonomous systems, (ii) hierarchical fuzzy behaviors for fast incremental development of robust beha...
متن کاملFuzzy Self-Localization using Natural Features on an AIBO Robot
In current RoboCup four-legged league the robots rely only on coloured landmarks for localisation. It is intended to remove these landmarks in a few years, as happened in other leagues. The odometry of four-legged robots is extremely unreliable and there is a high uncertainty in robot motion. Therefore, sensor-based localization is necessary. We propose to extend our previous technique for fuzz...
متن کاملLocalization of legged robots combining a fuzzy-Markov method and a population of extended Kalman filters
This paper presents a new approach to robot vision-based self-localization in dynamic and noisy environments for legged robots when efficiency is a strong requirement. The major contribution of this paper is the improvement of a Markovian method based on a fuzzy occupancy grid (FMK). Our proposal combines FMK with a population of Extended Kalman Filters, making the complete algorithm both robus...
متن کاملThe CMTrio-98 Sony-Legged Robot Team
Sony has provided a remarkable platform for research and development in robotic agents, namely fully autonomous legged robots. In this paper, we describe our work using Sony's legged robots to participate in the RoboCup'98 legged robot demonstration and competition. The robots are fully autonomous with on-board vision, control, and navigation. The challenges we addressed in this framework inclu...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2000