Fuzzy Logic Based EKF for Mobile Robot Navigation: An Analysis of Different Fuzzy Membership Functions
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 s...
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2016
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| Online Access: | http://umpir.ump.edu.my/id/eprint/14219/ http://umpir.ump.edu.my/id/eprint/14219/1/MCAIT2016.pdf http://umpir.ump.edu.my/id/eprint/14219/7/fkee-2016-hamzah-Fuzzy%20Logic%20Based%20EKF%20for%20Mobile%20Robot%20Navigation1.pdf |
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ump-14219 |
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eprints |
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ump-142192017-10-23T07:51:34Z http://umpir.ump.edu.my/id/eprint/14219/ Fuzzy Logic Based EKF for Mobile Robot Navigation: An Analysis of Different Fuzzy Membership Functions Hamzah, Ahmad Nur Aqilah, Othman TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics 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. 2016 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/14219/1/MCAIT2016.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/14219/7/fkee-2016-hamzah-Fuzzy%20Logic%20Based%20EKF%20for%20Mobile%20Robot%20Navigation1.pdf 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.. |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
Universiti Malaysia Pahang |
| building |
UMP Institutional Repository |
| collection |
Online Access |
| language |
English English |
| topic |
TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics |
| spellingShingle |
TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics Hamzah, Ahmad Nur Aqilah, Othman Fuzzy Logic Based EKF for Mobile Robot Navigation: An Analysis of Different Fuzzy Membership Functions |
| description |
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. |
| format |
Conference or Workshop Item |
| author |
Hamzah, Ahmad Nur Aqilah, Othman |
| author_facet |
Hamzah, Ahmad Nur Aqilah, Othman |
| author_sort |
Hamzah, Ahmad |
| title |
Fuzzy Logic Based EKF for Mobile Robot Navigation: An Analysis of Different Fuzzy Membership Functions |
| title_short |
Fuzzy Logic Based EKF for Mobile Robot Navigation: An Analysis of Different Fuzzy Membership Functions |
| title_full |
Fuzzy Logic Based EKF for Mobile Robot Navigation: An Analysis of Different Fuzzy Membership Functions |
| title_fullStr |
Fuzzy Logic Based EKF for Mobile Robot Navigation: An Analysis of Different Fuzzy Membership Functions |
| title_full_unstemmed |
Fuzzy Logic Based EKF for Mobile Robot Navigation: An Analysis of Different Fuzzy Membership Functions |
| title_sort |
fuzzy logic based ekf for mobile robot navigation: an analysis of different fuzzy membership functions |
| publishDate |
2016 |
| url |
http://umpir.ump.edu.my/id/eprint/14219/ http://umpir.ump.edu.my/id/eprint/14219/1/MCAIT2016.pdf http://umpir.ump.edu.my/id/eprint/14219/7/fkee-2016-hamzah-Fuzzy%20Logic%20Based%20EKF%20for%20Mobile%20Robot%20Navigation1.pdf |
| first_indexed |
2023-09-18T22:17:43Z |
| last_indexed |
2023-09-18T22:17:43Z |
| _version_ |
1777415448973803520 |