Localization of mobile robot based on fuzzy-adapted Kalman filtering
基于模糊自适应卡尔曼滤波的移动机器人定位方法*

In order to resolve the problem of mobile robot localization with unknown noise characteristics,this paper proposed a mobile robot localization method based on fuzzy-adapted extended Kalman filtering.Combined fuzzy logic and covariance-matching technique together to adjust the measurement noise covariance R and on-line improve the performance of the localization algorithm.Moreover,it used a sensor fault diagnostic and recovery algorithm to monitor the sensors' states and improved the algorithm's robustness....