Dynamic localization of mobile robot based on triangulation centroid estimation

Feng, Sheng; Wu, Chengdong; Zhang, Yunzhou

doi:10.1109/ccdc.2017.7979120

Cited by 3 publications

(1 citation statement)

References 12 publications

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“…A dynamic localization method can be one possible approach for measuring the robot’s position [ 25 ]. The mobile robot’s navigation node can be determined by measuring the RSSI [ 26 ]. Robot self-localization can be achieved by integrating trilateration and triangulation using RF sensor networks and fuzzy inference [ 27 ].…”

Section: Introductionmentioning

confidence: 99%

Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

Ciężkowski,

Kociszewski

2024

Sensors

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One of the important issues being explored in Industry 4.0 is collaborative mobile robots. This collaboration requires precise navigation systems, especially indoor navigation systems where GNSS (Global Navigation Satellite System) cannot be used. To enable the precise localization of robots, different variations of navigation systems are being developed, mainly based on trilateration and triangulation methods. Triangulation systems are distinguished by the fact that they allow for the precise determination of an object’s orientation, which is important for mobile robots. An important feature of positioning systems is the frequency of position updates based on measurements. For most systems, it is 10–20 Hz. In our work, we propose a high-speed 50 Hz positioning system based on the triangulation method with infrared transmitters and receivers. In addition, our system is completely static, i.e., it has no moving/rotating measurement sensors, which makes it more resistant to disturbances (caused by vibrations, wear and tear of components, etc.). In this paper, we describe the principle of the system as well as its design. Finally, we present tests of the built system, which show a beacon bearing accuracy of Δφ = 0.51°, which corresponds to a positioning accuracy of ΔR = 6.55 cm, with a position update frequency of fupdate = 50 Hz.

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Section: Introductionmentioning

confidence: 99%

Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

Ciężkowski,

Kociszewski

2024

Sensors

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An Improved EKF Localization Method with RSSI Aid for Mobile Wireless Sensor Networks

Tseng

Cheng

Ruan

et al. 2020

2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

Ciężkowski,

Kociszewski

2024

Preprint

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One of the important issues being explored in Industry 4.0 is a collaborative mobile robots. This collaboration requires precise navigation systems, especially indoor navigation systems where GNSS (Global Navigation Satellite System) cannot be used. To enable precise localization of robots, different variations of navigation systems are being developed, mainly based on trilateration and triangulation methods. Triangulation systems are distinguished by the fact that they allow precise determination of an object’s orientation, which is important for mobile robots. An important feature of positioning systems is the frequency of position updates based on measurements. For most systems it is 10-20 Hz. In our work, we propose a high-speed 50 Hz positioning system based on the triangulation method with infrared transmitters and receivers. In addition, our system is completely static, i.e. it has no moving/rotating measurement sensors, which makes it more resistant to disturbances (caused by vibrations, wear and tear of components, etc.). In this paper we describe the principle of the system as well as its design. Finally, we present tests of the built system, which show centimeter positioning accuracy with a position update frequency of 50 Hz.

show abstract

Dynamic localization of mobile robot based on triangulation centroid estimation

Cited by 3 publications

References 12 publications

Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

An Improved EKF Localization Method with RSSI Aid for Mobile Wireless Sensor Networks

Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

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