Sensor Fusion Based on Fuzzy Kalman Filtering for Autonomous Robot Vehicle
نویسندگان
چکیده
This paper presents the m e w of sensor fusion based on the Adaptive Fuzzy Kalman Filtering. This method has been applied to fuse position signals from the Global Positioning System (GPS) and Inertial Navigation System (INS) for the autonomous mobile vehicles. The presented method has been validated in 3-0 environment and is of particular importance for guidance, navigation, and control of flying vehicles. The Exten&d Kalman Filter (EKF) and the noise characteristic has been modifwd using the Fuzzy Logic Adaptive System and compared with the performance of regular E m . It has been demonstrated that the Fuzzy Adaptive Kalman Filter gives better results (more accurate) than the EKF.
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