ADAPTIVE FUZZY LOGIC SYSTEM FOR SENSOR FUSION IN DEAD-RECKONING MOBILE ROBOT NAVIGATION
Abstract This paper presents the sensor fusion for dead-reckoning mobile robot navigation. Odometry and sonar measurement signals are fused together using Extended Kalman Filter (EKF) and Adaptive Fuzzy Logic System (AFLS). Two methods of adaptation scheme are used, the first one uses Q and R , the second one only uses Q . The first method gives faster result than the second one. The fused signal is more accurate than any of the original signals considered separately. The enhanced, more accurate signal is used to guide and navigate the robot.
In this paper a study for very high efficiency targeting 99 % range converter is described. We have proposed a new soft switching boost type chopper based on snubber assisted zero voltage and zero current transition (SAZZ) with output diode fabricated “SiC schottky diode”. The output power of 8 kW with the efficiency of 98.96% was obtained. The loss breakdown evaluation of SiC-SAZZ is discussed.