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FACULTY OF ELECTRICAL &
ELECTRONICS ENGINEERING

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PROFESOR IR. DR. KAMARUL HAWARI BIN GHAZALI
Tel: 609 - 424 6029/5021
Fax: 609 - 424 6111
Email: kamarul@ump.edu.my

Abstract:

This paper deals with the analysis of different Fuzzy membership type performance for Extended Kalman Filter(EKF) based mobile robot navigation. EKF is known to be incompetent in non-Gaussian noise condition and therefore the technique alone is not sufficient to provide solution. Motivated by this shortcoming, a Fuzzy based EKF is proposed in this paper. Three membership types are considered which includes the triangular, trapezoidal and Gaussian membership types to determine the best estimation results for mobile robot and landmarks locations. Minimal rule design and configuration are also other aspects being considered for analysis purposes. The simulation results suggest that the trapezoidal memberships surpassed other membership type in providing the best solution in mobile robot navigation.

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