کنفرانس مهندسی برق ایران

صفحه اصلی / سی و چهارمین کنفرانس بین المللی مهندسی برق

A Fuzzy Logic-Based Adaptive EKF for Real-Time Mobile Robot Localization and Path Planning

نویسندگان :

Mohamadrasoul Hajiali¹ Ramazan Havangi²

1- دانشگاه بیرجند - دانشکده مهندسی 2- دانشگاه بیرجند - دانشکده مهندسی

کلمات کلیدی :

Fuzzy logic،Extended Kalman filter،Robot localization،Path planning, RRT*

چکیده :

Accurate localization of mobile robots in indoor environments is essential for autonomous navigation. This paper presents a framework that integrates a Fuzzy Adaptive Extended Kalman Filter (FAEKF) with the Rapidly-exploring Random Tree Star (RRT*) path planning algorithm. The FAEKF uses a Mamdani-type Fuzzy Inference System to dynamically adjust the measurement noise covariance, improving localization precision. The estimated position from the FAEKF serves as input to the RRT* algorithm to generate optimal paths. Simulation results demonstrate that the proposed method achieves accurate trajectory tracking and effective navigation in indoor environments. This research confirms the effectiveness of combining adaptive filtering with sampling-based planning for mobile robot applications.