Performance Analysis of Low-Cost Infrared Sensors for Multi-Robot Localization and Communication

Abdulmuttalib, T; Ali, Abduladhem Abdulkareem

doi:10.5120/ijca2018918139

Cited by 2 publications

(1 citation statement)

References 10 publications

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“…Indoor localization technology can be subdivided into single sensor localization and multi-sensor localization whose sensors include ultrasonic [4], infrared [5,6], vision [7], lidar, radio frequency identification (RFID) [8,9], Bluetooth [10], Wi-Fi [11] and so on. In addition, UWB [12,13] has also become a research hot-spot in recent years.…”

Section: Introductionmentioning

confidence: 99%

UAPF: A UWB Aided Particle Filter Localization For Scenarios with Few Features

Wang

Zhang

et al. 2020

Sensors

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Lidar-based localization doesn’t have high accuracy in open scenarios with few features, and behaves poorly in robot kidnap recovery. To address this problem, an improved Particle Filter localization is proposed who could achieve robust robot kidnap detection and pose error compensation. UAPF adaptively updates the covariance by Jacobian from Ultra-wide Band information instead of predetermined parameters, and determines whether robot kidnap occurs by a novel criterion called KNP (Kidnap Probability). Besides, pose fusion of ranging-based localization and PF-based localization is conducted to decrease the uncertainty. To achieve more accurate ranging-based localization, linear regression of ranging data adopts values of maximum probability rather than average distances. Experiments show UAPF can achieve robot kidnap recovery in less than 2 s and position error is less than 0.1 m in a hall of 40 by 15 m, when the currently prevalent lidar-based localization costs more than 90 s and converges to wrong position.

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Section: Introductionmentioning

confidence: 99%

UAPF: A UWB Aided Particle Filter Localization For Scenarios with Few Features

Wang

Zhang

et al. 2020

Sensors

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Performance Comparison of Two Infrared Sensor Types for Indoor Multi-Node Communication

Abdulmuttalib¹,

Ola²,

Ramzy³

2018

IJCA

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This paper compares the performance of two types of IR sensors that are used for communication among nodes to get the identity of each other. Practical circuits for these sensor types are built and tested in an environment which has nodes with cylindrical shape. Each node equipped by several pair of sensors: one sensor in each pair works as a transmitter and the other works as a receiver. The communication between sensors is repeated for different angles of rotation to produce a complete performance to each sensor. Based on the results of these comparisons, the TSOP4P38 IR receiver with remote control were chosen for communication in the practical implementation.

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Performance Analysis of Low-Cost Infrared Sensors for Multi-Robot Localization and Communication

Cited by 2 publications

References 10 publications

UAPF: A UWB Aided Particle Filter Localization For Scenarios with Few Features

UAPF: A UWB Aided Particle Filter Localization For Scenarios with Few Features

Performance Comparison of Two Infrared Sensor Types for Indoor Multi-Node Communication

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