scholarly journals Development of a Position and Orientation Localization System for an Indoor Mobile Robot Using Non-directional Ultrasonic Sensors and Radio Frequency Wireless Communication.

2000 ◽  
Vol 66 (8) ◽  
pp. 1241-1246 ◽  
Author(s):  
Seiji AOYAGI ◽  
Hajime NOTO ◽  
Hiroyoshi KISHIMOTO ◽  
Masaharu TAKANO
Keyword(s):  
Wireless Communication ◽  
Mobile Robot ◽  
Radio Frequency ◽  
Ultrasonic Sensors ◽  
Localization System ◽  
Indoor Mobile Robot ◽  
Position And Orientation

scholarly journals Localization System for Indoor Mobile Robot Using Large Square-Shaped Reflective Marker

2021 ◽  
Vol 15 (2) ◽  
pp. 182-190
Author(s):  
Hiroaki Seki ◽  
Ken Kawai ◽  
Masatoshi Hikizu ◽  
◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robot Navigation ◽  
Prototype System ◽  
Localization System ◽  
Indoor Mobile Robot ◽  
Four Corners ◽  
Fisheye Camera ◽  
Position And Orientation ◽  
Marker Detection ◽  
Measurable Range

A localization system using reflective markers and a fisheye camera with blinking infrared lights is useful and safe for mobile robot navigation in an environment with coexisting humans and robots; however, it has the problems of low robustness and a small measurable range for marker detection. A large, square-shaped reflective marker, with solid and dotted edges, is proposed for more reliable localization of indoor mobile robots. It can be easily detected using Hough transform and is robust for occlusion. The coordinates of the four corners of the square-shaped marker determine the robot’s localization. Infrared lighting with a new LED arrangement is designed for a wide measurable range via brightness simulation, including the effect of observation and reflection angles. A prototype system was developed, enabling the 2D position and orientation to be detected with an accuracy of 60 mm and 3◦, respectively, within a 4 m2 area.

Developing a Self-Localization System for Mobile Robot Using Ultrasonic Sensor Mesh

2016 ◽  
Vol 852 ◽  
pp. 812-818
Author(s):  
Rajneesh Deka ◽  
G. Kalaiarasan ◽  
R. Jegadeeshwaran
Keyword(s):  
Mobile Robot ◽  
Ultrasonic Sensor ◽  
Error Threshold ◽  
Localization System ◽  
Best Value ◽  
Indoor Mobile Robot ◽  
Simple Error ◽  
Position And Orientation

A hybrid self-localization system for indoor mobile robot is proposed which is used to get the pose (position and orientation) of the mobile robot within the ultrasonic mesh area while avoiding the drift caused by the odometry system of the robot. This localization system consist of three subsystem-odometry, IMU and ultrasonic mesh. The IMU system is fitted within the robot chassis. The ultrasonic mesh is made by fixing various ultrasonic trans-receivers along two lines parallel to the x-axis at known locations. The IMU system is used to get the heading of the robot and the ultrasonic mesh is used to get the position of the robot, however the odometry system gives both position and orientation of the robot. A simple error threshold based algorithm is used to select the best value of robot pose from the sub-systems.

INDOOR LOCALIZATION OF AN OMNI-DIRECTIONAL WHEELED MOBILE ROBOT

2013 ◽  
Vol 37 (4) ◽  
pp. 1043-1056 ◽  
Author(s):  
Sasha Ginzburg ◽  
Scott Nokleby
Keyword(s):  
Mobile Robot ◽  
Indoor Environment ◽  
Indoor Localization ◽  
Wheeled Mobile Robot ◽  
Fusion Algorithm ◽  
Distance Measurements ◽  
Localization System ◽  
Relative Localization ◽  
Position And Orientation ◽  
Improved Performance

This paper presents a localization system developed for estimating the pose, i.e., position and orientation, of an omni-directional wheeled mobile robot operating in indoor structured environments. The developed system uses a combination of relative and absolute localization methods for pose estimation. Odometry serves as the relative localization method providing pose estimates through the integration of measurements obtained from shaft encoders on the robot’s drive motors. Absolute localization is achieved with a novel GPS-like system that performs localization of active beacons mounted on the mobile robot based on distance measurements to receivers fixed at known positions in the robot’s indoor workspace. A simple data fusion algorithm is used in the localization system to combine the pose estimates from the two localization methods and achieve improved performance. Experimental results demonstrating the performance of the developed system at localizing the omni-directional robot in an indoor environment are presented.

An indoor mobile robot positioning system based on radio-frequency identification

2017 ◽  
Vol 50 (3) ◽  
pp. 313-322 ◽  
Author(s):  
Jiansheng PENG ◽  
Jian MIAO ◽  
Qingjin WEI ◽  
Zhenwu WAN ◽  
Yiyong HUANG ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Radio Frequency ◽  
Radio Frequency Identification ◽  
Positioning System ◽  
Indoor Mobile Robot ◽  
Robot Positioning ◽  
Frequency Identification

Localization using infrared beacons

Robotica ◽  
2000 ◽  
Vol 18 (2) ◽  
pp. 153-161 ◽  
Author(s):  
Eric Brassart ◽  
Claude Pegard ◽  
Mustapha Mouaddib
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Processing Time ◽  
Ccd Camera ◽  
Localization System ◽  
Triangulation Method ◽  
Time Calibration ◽  
Improve Accuracy ◽  
Position And Orientation

In this paper, we deal with a localization system allowing one to determine the position and orientation of a mobile robot. This system uses active beacons distributed at the ceiling of the navigation area. These beacons can transmit a coded infrared signal which allows the robots to identify the sender. A CCD camera associated to an infrared receiver allows one to compute the position with a triangulation method which needs reduced processing time. Calibration and correcting distortion stages are performed to improve accuracy in the determination of the position. Dynamic localisation is established for most actual mobile robots used in indoor areas.

Auto-localization system for indoor mobile robot using RFID fusion

Robotica ◽  
2014 ◽  
Vol 33 (9) ◽  
pp. 1899-1908 ◽  
Author(s):  
A. Abdelgawad
Keyword(s):  
Mobile Robot ◽  
Radio Frequency Identification ◽  
Accurate Estimation ◽  
Localization System ◽  
Accurate Localization ◽  
Indoor Mobile Robot ◽  
Current Location ◽  
Frequency Identification ◽  
Passive Rfid ◽  
Estimated Error

SUMMARYAutonomous mobile robots need accurate localization techniques to perform assigned task. Radio Frequency Identification Technology (RFID) has become one of the main means to construct a real-time localization system. Localization techniques in RFID rely on accurate estimation of the read range between the reader and the tags. This paper proposes an auto-localization system for indoor mobile robot using passive RFID. The proposed system reads any three different RFID tags which have a known location. The current location can be estimated using the Time Difference of Arrival (TDOA) scheme. In order to improve the system accuracy, the proposed system fuses the TDOA scheme for the three tags. A Kalman filter is used to minimize the estimated error and predict the next location. The simulation results validate the proposed framework.

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