Multiple sensor based UGV localization using fuzzy extended Kalman filtering

A method for localization of unmanned ground vehicles (UGVs) that are equipped with multiple sensors is presented and evaluated based on derivation of a fuzzy extended Kalman filter (EKF). The fuzzy EKF is used to fuse information acquired from the UGV odometer, stereo vision system and laser range finder in order to estimate the vehicle position and… CONTINUE READING