Robust Adaptive Observer based on Multi wheeled Mobile Robot Cooperation Algorithm
Olfa Hrizi, Boumedyen Boussaid, Ahmed Zouinkhi, Mohamed Naceur Abdelkrim, Christophe Aubrun · Automatika · 2016
FastSLAM2.0 is a framework for simultaneous localization of robot using a Rao-Blackwellized particle filter (RBPF). One of the problems of FastSLAM2.0 relates to the design of RBPF. The performance and quality of the estimation of RBPF depends heavily on the correct a priori knowledge of the process and measurement noise covariance matrices that are in most real-life applications unknown. On the other hand, an incorrect a priori knowledge may seriously degrade their performance. This paper presents an intelligent RBPF to solve this problem. In this method, two adaptive Neuro-Fuzzy inference systems (ANFIS) are used for tuning the process and measurement noise covariance matrices and for increasing acuuracy and consistency. In addition, we use particle swarm optimization (PSO) to optimize the performance of sampling. Experimental results demonstrate that the proposed algorithm is effective.