Experimental study on sensor fusion to improve real time indoor localization of a mobile robot

Zhou, Jason; Huang, L.

doi:10.1109/ramech.2011.6070492

Cited by 4 publications

(5 citation statements)

References 15 publications

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“…Monitoring the operation status of electrical equipment is a necessary function of the IO-EIR in substations, which can be achieved by recording the electrical instrumentation, observing the switching status and measuring the temperature of the electrical equipment (Zhou, 2011). Image recognition has been extensively adopted in thermal defect diagnosis and instrument recognition by the intelligent algorithms, such as artificial neural network recognition, fuzzy recognition and template matching (Shi et al , 2021).…”

Section: Comparative-analysis Of Various Indoor-orbital Electrical In...mentioning

confidence: 99%

A review of indoor-orbital electrical inspection robots in substations

Dong

Liang²,

Li³

et al. 2022

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Purpose The purpose of this study is to provide an in-depth understanding about the indoor-orbital electrical inspection robot, which is useful for motivating the further investigation on the inspection of electrical equipment. Currently, electric energy has a strong correlation with the economic development of the country. Intelligent substations play an important role in the transmission and distribution of the electricity; the maintenance of the substation has attracted intensive attention due to the requirement of reliability and safety. The indoor-orbital electrical inspection robot has increasingly become the main tool to realize the unmanned. Hence, a systematic review is conducted systematically reviewing the current technical status of the indoor-orbital electrical inspection robot and discuss the existed problems. Design/methodology/approach In this paper, the most essential achievements in the field of indoor-orbital electrical inspection robots were reported to present the current status, and the mechanical structures and key inspective technologies were also discussed. Findings Four recommendations are provided from the analyzed review, which have made constructive comments on the overall structural design, functionality, intelligence and future development direction of the indoor-orbital electrical inspection robot, respectively. Originality/value To the best of the authors’ knowledge, this is the first systematic review study on indoor-orbital electrical inspection robots; it fills the theoretical gap and proffers design ideas and directions for the development of the indoor-orbital electrical inspection robot.

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Section: Comparative-analysis Of Various Indoor-orbital Electrical In...mentioning

confidence: 99%

A review of indoor-orbital electrical inspection robots in substations

Dong

Liang²,

Li³

et al. 2022

View full text Add to dashboard Cite

show abstract

“…For different lengths of OA , the deviation between point B and point A in x and y coordinates are different, the model of which follows the normal distribution 2 N( , ) Table 1, the average deviation  increases as the length of OA increases. The increasing variance 2 …”

Section: Dr-based Localizationmentioning

confidence: 99%

“…Although global positioning system (GPS) is suitable for mobile robot localization in outdoor environments, it is difficult to use in an indoor environment. Furthermore, because a large proportion of the robots are designed for indoor use, this represents a severe limitation on the application of mobile robots [2].…”

Section: Introductionmentioning

confidence: 99%

“…In addition, expensive sensors are also necessary for the feature extraction of the environments. The other kind of landmark is man-rated devices [2,8] [9][10][11]. Obviously, it is simpler for sensors to capture the characteristics of man-rated landmarks than using natural signals, but it is rather difficult to transplant these landmarks to an unknown environment.…”

Section: Introductionmentioning

confidence: 99%

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Precise Localization of Mobile Robots via Odometry and Wireless Sensor Network

Zhang

Chen

et al. 2013

International Journal of Advanced Robotic Systems

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Precise localization of mobile robots in uncertain environments is a fundamental and crucial issue in robotics. In this paper, to deal with the unbounded accumulated errors of dead reckoning (DR)-based localization, wireless sensor network (WSN)-based localization is applied to calibrate the uncertainty of odometry using a Kalman filter (KF). In addition, to further aid in obtaining precise positions and reduce uncertainty, a novel backward dead reckoning (BDR) localization approach is proposed. The experimental results demonstrate the success and reliability of the proposed method.

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“…Robot localization is an important issue in mobile robotics [1], [2], [3] since it is one of the most basic requirement for many autonomous tasks. The objective is to estimate the pose (position and orientation) of a mobile robot by using the knowledge of an environment (e.g.…”

Section: Introductionmentioning

confidence: 99%

A visibility information for multi-robot localization

Guyonneau

Lagrange

Hardouin

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper proposes a set-membership method based on interval analysis to solve the pose tracking problem for a team of robots. The originality of this approach is to consider only weak sensor data: the visibility between two robots. The paper demonstrates that with this poor information, without using bearing or range sensors, a localization is possible. By using this boolean information (two robots see each other or not), the objective is to compensate the odometry errors and be able to localize in an indoor environment all the robots of the team, in a guaranteed way. The environment is supposed to be defined by two sets, an inner and an outer characterizations. This paper mainly presents the visibility theory used to develop the method. Simulated results allow to evaluate the efficiency and the limits of the proposed algorithm.

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Experimental study on sensor fusion to improve real time indoor localization of a mobile robot

Cited by 4 publications

References 15 publications

A review of indoor-orbital electrical inspection robots in substations

A review of indoor-orbital electrical inspection robots in substations

Precise Localization of Mobile Robots via Odometry and Wireless Sensor Network

A visibility information for multi-robot localization

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