Mobile robot localization using augmented reality landmark and fuzzy inference system

摘要

Localization is an important ability in autonomous vehicle application. This paper reports the implementation of localization system using single wireless camera as visual sensor and an augmented reality computer vision library, ARToolkit, for executing tracking activity. Augmented reality tag were used as landmarks to be tracked which are placed arround within 2×2 metres testing environment. The experiment result shows that the ARToolkit distance measurement is not perfect, instead it has error function respecting to distance which can be approach using 2 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">nd</sup> order polynomial. The fuzzy logic inference system was designed to give weighting value for each measurement for handling case while there are two or more landmark are detected at the same time. The position of vehicle and landmarks within the testing environment were visualized in 2D map using visual C# application and the vehicle's coordinate can be logged offline manner by outputing its value. The experiment result shows that the distance measurement's error for multiple landmark varies from −6.8% to 2,4%.