In this paper, a Sequential Adaptive Fuzzy Inference System called SAFIS is developed based on the functional equivalence between a radial basis function network and a fuzzy inference system (FIS). In SAFIS, the concept of “Influence” of a fuzzy rule is introduced and using this the fuzzy rules are added or removed based on the input data received so far. If the input data do not warrant adding...

Abs t rae t -A new adaptive state estimation algorithm, namely adaptive fading Kalman filter (AFKF), is proposed to solve the divergence problem of Kalman filter. A criterion function is constructed to measure the optimality of Kalman filter. The forgetting factor in AFKF is adaptively adjusted by minimizing the defined criterion function using measured outputs. The algorithm remains convergent...

While adaptive filtering is in principle intended for tracking non-stationary systems, most adaptive filtering algorithms have been designed for converging to a fixed unknown filter. When actually confronted with a non-stationary environment, they possess just one parameter (stepsize, forgetting factor) to adjust their tracking capability. Virtually the only existing optimal approach is the Kal...

A new filtering algorithm, adaptive square root cubature Kalman filter-Kalman filter (SRCKF-KF) is proposed to reduce the problems of amount of calculation, complex formula-transform, low accuracy, poor convergence or even divergence. The method uses cubature Kalman filter (CKF) to estimate the nonlinear states of model while its linear states are estimated by the Kalman filter (KF). The simula...

FastSLAM is a framework for simultaneous localization using a Rao-Blackwellized particle filter. In FastSLAM, particle filter is used for the mobile robot pose (position and orientation) estimation, and an Extended Kalman Filter (EKF) is used for the feature location’s estimation. However, FastSLAM degenerates over time. This degeneracy is due to the fact that a particle set estimating the pose...

The purpose of this article is to provide rescue robots with an adaptive behaviour during searching for victims in disasters such as fire, earthquake, flood, wars etc. This experimental research work took place in previously unknown dynamic indoor terrains. The main phases of this framework are; 1) modelling of robot behaviours/dynamics in collapsed environments, 2) designing an adaptive contro...

7 The generation of membership functions for fuzzy systems is a challenging problem. We show that for Mamdani-type fuzzy systems with correlation-product inference, centroid defuzzi cation, and triangular membership functions, optimizing 9 the membership functions can be viewed as an identi cation problem for a nonlinear dynamic system. This identi cation problem can be solved with an extended ...