Title :
Fuzzy landmark-based localization for a legged robot
Author :
Buschka, P. ; Saffiotti, A. ; Wasik, Z.
Author_Institution :
Dept. of Technol., Orebro Univ., Sweden
Abstract :
We describe a new technique for landmark-based self-localization which is suitable for robots with poor odometry. 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
Keywords :
computational complexity; fuzzy logic; legged locomotion; position measurement; RoboCup domain; Sony AIBO legged robot; fuzzy landmark-based localization; fuzzy logic; landmark-based self-localization; legged robot; robot motion estimation; visual recognition; Cameras; Computational efficiency; Fuzzy logic; Legged locomotion; Mobile robots; Robot sensing systems; Robot vision systems; Sensor systems; Tracking; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.893183
