One active beacon for an indoor absolute localization of a mobile vehicle

Venet, T.; Capitaine, Thierry; Hamzaoui, M.; Fazzino, F.

doi:10.1109/robot.2002.1013330

Cited by 11 publications

(9 citation statements)

References 1 publication

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This paper presents a novel concept which was developed to perform triangulation of the rover using only two beacons. The lack of the standard third triangulation beacon is compensated in the concept by having each of the two existing beacons emit a laser beam that is pulse encoded with the laser's current rotational angle; such angular encoding has been used in previous systems [5]. The two beacons would be located a known distance apart, and continuously scan the area of interest in a sweeping fashion.…”

Section: Introductionmentioning

confidence: 99%

Modeling a novel laser localization system

Browne

Vutetakis

2015

SoutheastCon 2015

View full text Add to dashboard Cite

A novel laser based localization system is evaluated through mathematical modeling and simulation. The system concept was originally conceived as part of a university design project for use in a mobile robot mining competition. The overall operation of the system is accomplished using just two external beacons to perform triangulation. These rotating beacons emit laser pulses containing angular information; a rotating detector on the vehicle captures and decodes this information. This received data is analyzed in real time to resolve position and orientation. Potential errors may result from inconsistencies in the conversion of the beacon's angular direction to laser frequencies. This can be compounded with errors from resolving angular data from the laser frequencies received by the detector. The rotational frequency of both the beacons, the detector, and the laser beam width are all factors that affect the time of reception, which is another potential source of error and can be used for optimization. The purpose of the model is to analyze parameters such as these in order to evaluate the effectiveness of the localization system and exploit areas of optimization. The model simulates the localization of the robot in static and dynamic conditions to produce data accounting for error, hit time, and position update time. The results obtained are expected to provide insight towards future design improvements.

show abstract

Section: Introductionmentioning

confidence: 99%

Modeling a novel laser localization system

Browne

Vutetakis

2015

SoutheastCon 2015

View full text Add to dashboard Cite

show abstract

“…In early mobile robot technologies, localization for autonomous mobile robots was widely researched and many methods were developed, such as a dead reckoning system, an active badge system, an active beacon system, and localization systems using a landmark, radio frequency identifi cation (RFID), or a global positioning system (GPS). [1][2][3][4][5][6][7][8] tation within a typical indoor/outdoor scene (Sect. 4), and our conclusions and future work (Sect.…”

Section: Introductionmentioning

confidence: 99%

“…However, this method can be infl uenced by any obstacle between the transmitter and the receiver, the external temperature, and noise. 5 The localization method using a landmark or RFID is robust to changes in the external environment such as temperature or solar light. However, it has a fatal defect in that it can be applied only to a limited space where a RFID tag or landmark can be attached.…”

mentioning

confidence: 99%

Localization algorithm using a virtual label for a mobile robot in indoor and outdoor environments

Lee

2011

Artif Life Robotics

View full text Add to dashboard Cite

The dead-reckoning system is one well-known localization method based on measuring relative positions. The dead-reckoning system has the advantage of a high sampling rate and outstanding accuracy over short intervals. However, this system cannot avoid an inevitable accumulation of errors because of the time-integral term between current direction and distance. In particular, the cumulative error in the direction angle may cause an infi nitely large positioning error as time passes. 1,2 In order to detect the location of people inside a building, an active badge system with infrared rays has been researched. However, this system has problems such as the short communication distance and a weak performance against sunshine. 4 An active beacon system with ultrasonic sensors is known for its relatively accurate performance and low power consumption. However, this method can be infl uenced by any obstacle between the transmitter and the receiver, the external temperature, and noise. 5 The localization method using a landmark or RFID is robust to changes in the external environment such as temperature or solar light. However, it has a fatal defect in that it can be applied only to a limited space where a RFID tag or landmark can be attached. In addition, it is impossible to use it outdoors. 3,4 To recognize an absolute position outdoors, a GPS is the most powerful localization method. However, it is limited to the area of the GPS signal and has a low positional accuracy. 6 A meaningful and still unsolved problem for most applications is to develop a robust positioning system. Therefore, this article is concerned with how to localize and navigate a mobile robot without any landmarks, or in a limited detection range, in an unknown environment. To solve these problems, we propose a new localization algorithm using a virtual label algorithm. The proposed method is based on virtual labeling techniques. Here, we use a laser range fi nder and an encoder in an indoor environment. In an outdoor environment, a GPS alone is adopted to calculate the initial position.This article is divided into the following sections: generation of range fi nder scans (Sect. 2), localization with a virtual label algorithm (Sect. 3), experimental results of implemenAbstract Scanning laser range sensors provide range data consisting of a set of point measurements. The laser sensor URG-04LX has a distance range of approximately 0.02-4 m and a scanning angle range of 240˚. Usually, such an image range is acquired from one viewpoint by "moving" the laser beam using rotating mirrors/prisms. The orientation of the laser beam can easily be measured and converted into the coordinates of the image. This article conducts localization using virtual labels with data about distances in the environment obtained from 2D distance laser sensors. This method puts virtual labels on special features and points which are along the mobile robot's path. The current location is calculated by combining the virtual label and the range image of the laser range fi nder.

show abstract

“…Relative positioning includes the use of encoders, gyroscopes and accelerometer (Zunaidi et al, 2006). Absolute positioning involves using beacons (active or passive) (Venet et al, 2002), global positioning systems (GPS) (Willgoss et al, 2003), landmark recognition (Borenstein et al, 1997) and model matching methods (Fang, et al, 2006). GPS is widely used for absolute positioning of the mobile robot, but it cannot properly receive satellite signals indoors and has lower accuracy, which makes its indoor application to a mobile robot difficult (Kim and Park, 2008).…”

Section: Introductionmentioning

confidence: 99%

Mobile Robot Positioning Based on ZigBee Wireless Sensor Networks and Vision Sensor

Wang¹

2010

Robot Localization and Map Building

View full text Add to dashboard Cite

One active beacon for an indoor absolute localization of a mobile vehicle

Cited by 11 publications

References 1 publication

Modeling a novel laser localization system

Modeling a novel laser localization system

Localization algorithm using a virtual label for a mobile robot in indoor and outdoor environments

Mobile Robot Positioning Based on ZigBee Wireless Sensor Networks and Vision Sensor

Contact Info

Product

Resources

About