Sonar based mobile robot localization by using fuzzy triangulation
The objective of this paper is to identify the robot's location in a global map from solely sonar based information. This is achieved by using fuzzy sets to model sonar data and by using fuzzy triangulation to identify robot's position and orientation. As a result we obtain a fuzzy position region where each point in the region has a degree of certainty of being the actual position of the robot. (C) 2000 Elsevier Science B.V. All rights reserved.
sonar mobile robots localization fuzzy sets uncertainty