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Title: Map building via integration of fuzzy systems and clustering algorithms
Authors: Ip, YL
Rad, AB
Wong, YK
Keywords: Fuzzy control
Hierarchical systems
Mobile robots
Path planning
Pattern clustering
Real-time systems
Issue Date: 2001
Publisher: IEEE
Source: The 10th IEEE International Conference on Fuzzy Systems, 2001, 2-5 December 2001, Melbourne, Vic., p. 1058-1061 How to cite?
Abstract: This paper presents a segment detection and grouping scheme that allows incremental and online learning of indoor environment maps by mobile robots. In this study, the modeling is refined by first dividing the world into discrete regions as local models. The line segments in local models are extracted by clustering algorithm. The local models are grouped together by a hierarchical fuzzy system. Adjusting the membership functions that establish the grouping criteria controls the degree of approximation in such combination. The performance of the algorithm is validated in indoor office environments using a Pioneer II mobile robot
ISBN: 0-7803-7293-X
DOI: 10.1109/FUZZ.2001.1008835
Appears in Collections:Conference Paper

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