Mobile Robot Navigation and Localization in the Presence of Hurdles in Cluttered Environment Using Fuzzy Control and Kalman Filter

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Khosravi, Hamed | 2017

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Type of Document: M.Sc. Thesis
Language: English
Document No: 50441 (55)
University: Sharif University of Technology, International Campus, Kish Island
Department: Science and Engineering
Advisor(s): Khayyat, Ali Akbar
Abstract:
In this thesis, in order to improve the performance of the mobile robot navigation, a Fuzzy approach is used for making a safe path in the cluttered environment with hurdles in the work space of the robot. To this end, based on data collected from instantaneous location of the robot and location of the robot, heuristic rules are extracted. Also, in order to obtain optimal data fusion of the sensors, Kalman filter is used to localize the robot. In this regards, by using the kinematics of the robot and supposing the white noise in the process and measurements, the position and orientation of the mobile robot are estimated in a real-time and adaptive manner
Keywords:
Mobile Robot ; Navigation ; Localization ; Kalman Filters ; Extended Kalman Filter ; Fuzzy Logic ; Obstacle Avoidance

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