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Fuzzy logic based EKF for mobile robot navigation: An analysis of different fuzzy membership functions
Hamzah Ahmad1, Nur Aqilah Othman2.
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.
Affiliation:
- Universiti Malaysia Pahang, Malaysia
- Universiti Malaysia Pahang, Malaysia
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Indexation |
Indexed by |
MyJurnal (2021) |
H-Index
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3 |
Immediacy Index
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0.000 |
Rank |
0 |
Indexed by |
Scopus 2020 |
Impact Factor
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CiteScore (1.1) |
Rank |
Q3 (Agricultural and Biological Sciences (all)) Q3 (Environmental Science (all)) Q3¬¬- (Computer Science (all)) Q3 (Chemical Engineering (all)) |
Additional Information |
SJR (0.174) |
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