Mobile robot localization and path planning using an omnidirectional camera and infrared sensors

Hsieh, Chia-Hao; Wang, Min-Liang; Kao, Li-Wei; Lin, Huei-Yung

doi:10.1109/icsmc.2009.5345993

Cited by 5 publications

(1 citation statement)

References 19 publications

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“…To deal with this challenge, a number of techniques for indoor localization have been proposed and developed based on using video cameras, laser sensors, ultrasonic sensors and radio frequency/wireless identification sensors (Achour and Djekoune, 2012; Choi et al, 2012a; Hsieh et al, 2009; Jia et al, 2012; Nagai et al, 2013). Recently, localization using VLC technology with certain benefits has become a promising technology to replace those sensors.…”

Section: Introductionmentioning

confidence: 99%

Design and simulation of a novel indoor mobile robot localization method using a light-emitting diode positioning system

Suebsomran

Sripimanwat

Nguyen³

2015

Transactions of the Institute of Measurement and Control

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A key problem of mobile robots is that of the positioning capability in order to detect their locations in the operating environment. A promising technology used in indoor localization recently is Visible Light Communication (VLC). In this paper, an integrated Angle of Arrival-Received Signal Strength (AOA-RSS) localization method using the VLC, which could get high accuracy with simple hardware, is proposed. In addition, the Extended Kalman Filter (EKF) and Particle Filter (PF) algorithms are combined with the proposed AOA-RSS localization method in order to achieve higher accuracy of the mobile robot positioning. By computer simulation, the performance of the proposed AOA-RSS localization method combined with the EKF and PF algorithms are compared. The combination scheme outperforms the individual VLC localization with small error approximation of a few centimetres.

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