Indoor Localization and Navigation for a Mobile Robot Equipped with Rotating Ultrasonic Sensors Using a Smartphone as the Robot's Brain

Abstract

Identifying the current location of a robot is a prerequisite for robot navigation. To localize a robot, one popular way is to use particle filters that estimate the posterior probabilistic density of a robot's state space. But this Bayesian recursion approach is computationally expensive. Most microcontrollers in a small mobile robot cannot afford it. The authors propose to use a smartphone as a robot's brain in which heavy-duty computations take place whereas an embedded microcontroller on the robot processes rudimentary sensors such as ultrasonic and touch sensors. In their design, a smartphone is wirelessly connected to a robot via Bluetooth by which distance measurements from the robot are sent to the smartphone. Then the smartphone takes responsible for computationally expensive operations like executing the particle filter algorithm. In this paper, the authors designed a mobile robot and its control architecture to demonstrate that the robot can navigate indoor environment while avoiding obstacles and localize its current position.

Accomplishing and Optimizing Robotic Self-Navigation Intelligence for Warehouse Logistics through Sensor Fusion and Antenna Localization

“…Robots development has met tremendous developments within the last years, as it can be seen in various papers Gupta et al (2021), Lim et al (2016), Kruse et al (2013), Palamas and Ware (2013), Müller et al (2004).…”

Proceedings of the 9th International Conference on Advanced Materials and Systems

“…Robots development has met tremendous developments within the last years, as it can be seen in various papers Gupta et al (2021), Lim et al (2016), Kruse et al (2013), Palamas and Ware (2013), Müller et al (2004).…”