A prototype of static IR beacon-receiver positioning system based on triangulation method

Ciężkowski, Maciej

doi:10.1016/j.measurement.2018.06.039

Cited by 11 publications

(2 citation statements)

References 22 publications

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“…Our earlier paper presented a prototype of a Static Triangulation System (STS) [ 45 ] with the following parameters: angle measurement accuracy of 0.42°, position determination accuracy of 6.97 cm, and measurement frequency of 12.5 Hz. This system is completely static, i.e., there are no moving/rotating measurement sensors, which makes it more resistant to disturbances (caused by vibrations, wear and tear on components, etc.).…”

Section: Introductionmentioning

confidence: 99%

Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

Ciężkowski,

Kociszewski

2024

Sensors

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One of the important issues being explored in Industry 4.0 is collaborative mobile robots. This collaboration requires precise navigation systems, especially indoor navigation systems where GNSS (Global Navigation Satellite System) cannot be used. To enable the precise localization of robots, different variations of navigation systems are being developed, mainly based on trilateration and triangulation methods. Triangulation systems are distinguished by the fact that they allow for the precise determination of an object’s orientation, which is important for mobile robots. An important feature of positioning systems is the frequency of position updates based on measurements. For most systems, it is 10–20 Hz. In our work, we propose a high-speed 50 Hz positioning system based on the triangulation method with infrared transmitters and receivers. In addition, our system is completely static, i.e., it has no moving/rotating measurement sensors, which makes it more resistant to disturbances (caused by vibrations, wear and tear of components, etc.). In this paper, we describe the principle of the system as well as its design. Finally, we present tests of the built system, which show a beacon bearing accuracy of Δφ = 0.51°, which corresponds to a positioning accuracy of ΔR = 6.55 cm, with a position update frequency of fupdate = 50 Hz.

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Section: Introductionmentioning

confidence: 99%

Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

Ciężkowski,

Kociszewski

2024

Sensors

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“…Lateration based positioning systems, apart of anchors positions, utilize the distance between the tag and the anchors. Those systems can be further classified by the way the distance is measured or by the utilized measurement technology [20]. Most accurate way to determine the distance is the time of flight (TOF) or time-difference of arrival (TDOA).…”

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Trajectory optimization using learning from demonstration with meta-heuristic grey wolf algorithm

Pawlowski

Romaniuk

Kulesza

et al. 2022

IJRA

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<span>Nowadays, most robotic systems perform their tasks in an environment that is generally known. Thus, robot's trajectory can be planned in advance depending on a given task. However, as a part of modern manufacturing systems which are faced with the requirements to produce high product variety, mobile robots should be flexible to adapt to changing and diverse environments and needs. In such scenarios, a modification of the task or a change in the environment, forces the operator to modify robot's trajectory. Such modification is usually expensive and time-consuming, as experienced engineers must be involved to program robot's movements. The current paper presents a solution to this problem by simplifying the process of teaching the robot a new trajectory. The proposed method generates a trajectory based on an initial raw demonstration of its shape. The new trajectory is generated in such a way that the errors between the actual and target end positions and orientations of the robot are minimized. To minimize those errors, the grey wolf optimization (GWO) algorithm is applied. The proposed approach is demonstrated for a two-wheeled mobile robot. Simulation and experimental results confirm high accuracy of generated trajectories.</span>

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An Ultrasonic Positioning System for an Assembly-Work Guide

Kang

Lim

2021

J Sign Process Syst

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A prototype of static IR beacon-receiver positioning system based on triangulation method

Cited by 11 publications

References 22 publications

Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

Trajectory optimization using learning from demonstration with meta-heuristic grey wolf algorithm

An Ultrasonic Positioning System for an Assembly-Work Guide

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