Using infrared sensors for distance measurement in mobile robots

Benet, G.; Noguera, Juan Francisco Blanes; Simó, José; Peréz, P.

doi:10.1016/s0921-8890(02)00271-3

Cited by 217 publications

(136 citation statements)

References 8 publications

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“…The application of the TDOA measurement model must be preceded by the estimation of its parameter vector θ, given measurement data (∆τ (1) uv , ∆τ (2) uv , ..., ∆τ (N ) uv ), resulting in the modelp uv (∆τ uv ;θ). Due to its efficiency in achieving the CRLB for data set sizes tending to infinity, our approach is based on Maximum Likelihood Estimation (MLE).…”

Section: Estimation Of Model Parametersmentioning

confidence: 99%

“…Within the research community, the mobile robotics domain plays an important role with a vast and continuously growing body of contributions. Popular localization sensors employed on-board robots include cameras [16], ultrasound sensors [8], laser range finders [17] and even infrared sensors [2], and are used independently or in combination with fixed landmark beacons [3]. Although such systems are proven accurate and efficient, their great disadvantage lies in the requirement for line-of-sight (LOS).…”

Section: Introductionmentioning

confidence: 99%

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Online model estimation of ultra-wideband TDOA measurements for mobile robot localization

Prorok

Gonon

Martinoli

2012

2012 IEEE International Conference on Robotics and Automation

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Abstract-Ultra-wideband (UWB) localization is a recent technology that promises to outperform many indoor localization methods currently available. Yet, non-line-of-sight (NLOS) positioning scenarios can create large biases in the time-difference-of-arrival (TDOA) measurements, and must be addressed with accurate measurement models in order to avoid significant localization errors. In this work, we first develop an efficient, closed-form TDOA error model and analyze its estimation characteristics by calculating the Cramér-Rao lower bound (CRLB). We subsequently detail how an online Expectation Maximization (EM) algorithm is adopted to find an elegant formalism for the maximum likelihood estimate of the model parameters. We perform real experiments on a mobile robot equipped with an UWB emitter, and show that the online estimation algorithm leads to excellent localization performance due to its ability to adapt to the varying NLOS path conditions over time.

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Section: Estimation Of Model Parametersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Online model estimation of ultra-wideband TDOA measurements for mobile robot localization

Prorok

Gonon

Martinoli

2012

2012 IEEE International Conference on Robotics and Automation

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“…The reflected IR value that is measured by a sensor is mathematically modelled by the following equation [26]:…”

Section: Sensory Systemmentioning

confidence: 99%

Colias: An Autonomous Micro Robot for Swarm Robotic Applications

Arvin

Murray

Zhang

et al. 2014

International Journal of Advanced Robotic Systems

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Robotic swarms that take inspiration from nature are becoming a fascinating topic for multi-robot researchers. The aim is to control a large number of simple robots in order to solve common complex tasks. Due to the hardware complexities and cost of robot platforms, current research in swarm robotics is mostly performed by simulation software. The simulation of large numbers of these robots in robotic swarm applications is extremely complex and often inaccurate due to the poor modelling of external conditions. In this paper, we present the design of a low-cost, open-platform, autonomous micro-robot (Colias) for robotic swarm applications. Colias employs a circular platform with a diameter of 4 cm. It has a maximum speed of 35 cm/s which enables it to be used in swarm scenarios very quickly over large arenas. Long-range infrared modules with an adjustable output power allow the robot to communicate with its direct neighbours at a range of 0.5 cm to 2 m. Colias has been designed as a complete platform with supporting software development tools for robotics education and research. It has been tested in both individual and swarm scenarios, and the observed results demonstrate its feasibility for use as a micro-sized mobile robot and as a low-cost platform for robot swarm applications.

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“…Their inherently fast response is attractive for enhancing the real-time response of a mobile robot [4]. Some IR sensors described in the bibliography are based on the measurement of the phase shift, and offer medium resolution from 5 cm to 10 m [5], but these are very expensive.…”

Section: Introductionmentioning

confidence: 99%