Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique
This paper deals with an analysis of intermittent observations for mobile robot localization with Fuzzy Logic approach. Mobile robot can easily lost its sight during environment observations due to several factors such as sensor faulty, and dynamic conditions. This can lead to erroneous estimation a...
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
IEEE
2017
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| Online Access: | http://umpir.ump.edu.my/id/eprint/15311/1/fkee-2016-hamzah-Investigation%20on%20Intermittent%20Observation1.pdf http://umpir.ump.edu.my/id/eprint/15311/7/fkee-2017-hamzah-%20Investigation%20on%20Intermittent%20Observation%20in%20Mobile%20Robot.pdf |
| _version_ | 1825825368033984512 |
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| author | Hamzah, Ahmad Nur Aqilah, Othman |
| author_facet | Hamzah, Ahmad Nur Aqilah, Othman |
| author_sort | Hamzah, Ahmad |
| collection | UMP |
| description | This paper deals with an analysis of intermittent observations for mobile robot localization with Fuzzy Logic approach. Mobile robot can easily lost its sight during environment observations due to several factors such as sensor faulty, and dynamic conditions. This can lead to erroneous estimation and the mobile robot become uncertain about its position. As a solution to this issue, this paper proposed a study on Fuzzy Logic technique to overcome such problem considering the Extended Kalman Filter(EKF) measurement innovation characteristic. The rules and fuzzy sets are designed such that it preserved good estimation whenever the relative angle and its relative distance measurements suddenly becomes larger than the previous measurements. The simulation results discusses two different cases observing the performance of the proposed technique. The results show that EKF with Fuzzy Logic technique is able to deal with intermittent observations if the design takes proper analysis and consideration on the measurement innovations. |
| first_indexed | 2024-03-06T12:09:28Z |
| format | Conference or Workshop Item |
| id | UMPir15311 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T12:09:28Z |
| publishDate | 2017 |
| publisher | IEEE |
| record_format | dspace |
| spelling | UMPir153112018-02-05T06:48:17Z http://umpir.ump.edu.my/id/eprint/15311/ Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique Hamzah, Ahmad Nur Aqilah, Othman TK Electrical engineering. Electronics Nuclear engineering This paper deals with an analysis of intermittent observations for mobile robot localization with Fuzzy Logic approach. Mobile robot can easily lost its sight during environment observations due to several factors such as sensor faulty, and dynamic conditions. This can lead to erroneous estimation and the mobile robot become uncertain about its position. As a solution to this issue, this paper proposed a study on Fuzzy Logic technique to overcome such problem considering the Extended Kalman Filter(EKF) measurement innovation characteristic. The rules and fuzzy sets are designed such that it preserved good estimation whenever the relative angle and its relative distance measurements suddenly becomes larger than the previous measurements. The simulation results discusses two different cases observing the performance of the proposed technique. The results show that EKF with Fuzzy Logic technique is able to deal with intermittent observations if the design takes proper analysis and consideration on the measurement innovations. IEEE 2017 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/15311/1/fkee-2016-hamzah-Investigation%20on%20Intermittent%20Observation1.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/15311/7/fkee-2017-hamzah-%20Investigation%20on%20Intermittent%20Observation%20in%20Mobile%20Robot.pdf Hamzah, Ahmad and Nur Aqilah, Othman (2017) Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique. In: IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS 2016) , 22 October 2016 , Shah Alam, Malaysia. pp. 17-22.. ISBN 978-1-5090-4186-2 (Published) https://doi.org/10.1109/I2CACIS.2016.7885282 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Nur Aqilah, Othman Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique |
| title | Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique |
| title_full | Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique |
| title_fullStr | Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique |
| title_full_unstemmed | Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique |
| title_short | Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique |
| title_sort | investigation on intermittent observation in mobile robot localization with fuzzy logic technique |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/15311/1/fkee-2016-hamzah-Investigation%20on%20Intermittent%20Observation1.pdf http://umpir.ump.edu.my/id/eprint/15311/7/fkee-2017-hamzah-%20Investigation%20on%20Intermittent%20Observation%20in%20Mobile%20Robot.pdf |
| work_keys_str_mv | AT hamzahahmad investigationonintermittentobservationinmobilerobotlocalizationwithfuzzylogictechnique AT nuraqilahothman investigationonintermittentobservationinmobilerobotlocalizationwithfuzzylogictechnique |