Trajectory tracking control of a nonholonomic mobile robot using iGPS and odometry

Abstract

I n order for a robot to follow a predetermined trajectory accurately, its position must be estimated accurately and reliably. This paper proposes a trajectory tracking control method for a non-holonomic mobile robot that utilizes both iGPS and odometry localization information to precisely calculate the robot's position. The iGPS is an indoor global positioning system that utilizes T V cameras mounted on the ceiling to locate the robot with respect to the world coordinate system.The iGPS localization information is sent to the robot via wireless LAN, and the robot estimates its position from this information and the robot's internal odomet?. The experimental results show that the proposed method enables robust trajectoq tracking, even after experiencing a significant disturbance.

Service oriented architecture for mobile robot localization

“…Therefore, it is important to create systems for navigation that can report the MRs localization and information about obstacles. Indoor global positioning Systems (iGPS) and intelligent spaces (ISpace) for the MRs localization or control inside buildings have been studied to find a solution for some problems above referred [1,2,8,9,10]. …”

“…Hada [1,9] equipped their MRs with IR LED units arranged in a circular manner to have a good optical emission. To create an ISpace Hada use TV cameras with IR ray pass filter to remove the spectrum of visible rays.…”

“…This delay in the reception of the position information can generate high positioning errors that increase with the MR speed. To minimize the iGPS localization error due the delay between the image acquisition and the reception of the position information, Hada in [9] have presented a solution for the trajectory control using the iGPS and odometry. The solution require the MRs clocks synchronization with the computer of the iGPS system.…”

Autonomous mobile robots localization with multiples iGPS Web Services

“…Since these systems use cameras placed throughout the environment, no specialized electronic devices have to be installed on the AMRs. For instance, indoor Global Positioning Systems (iGPS) and Intelligent Spaces for mobile robot localization and control inside buildings have received widespread attention in recent years [1,2,3].…”

Mobile Robot Geometry Initialization from Single Camera

“…The ability of operating with a single sensor allows the system to work with few cameras, reducing heavily the cost and avoiding complex multiple camera configurations. There exist several approaches with the same aim that the present paper, by using artificial landmarks, either active [4] or passive ones [7]. In other works a geometrical model [10], is learnt previously to the tracking task in a supervised step.…”