Mobile robot positioning: Sensors and techniques

Abstract

Exact knowledge of the position of a vehicle is a fundamental problem in mobile robot applications. In search for a solution, researchers and engineers have developed a variety of systems, sensors, and techniques for mobile robot positioning. This paper provides a review of relevant mobile robot positioning technologies. The paper defines seven categories for positioning systems: 1. Odometry; 2. Inertial Navigation; 3. Magnetic Compasses; 4. Active Beacons; 5. Global Positioning Systems; 6. Landmark Navigation; and 7. Model Matching. The characteristics of each category are discussed and examples of existing technologies are given for each category. The field of mobile robot navigation is active and vibrant, with more great systems and ideas being developed continuously. For this reason the examples presented in this paper serve only to represent their respective categories, but they do not represent a judgment by the authors. Many ingenious approaches can be found in the literature, although, for reasons of brevity, not all could be cited in this paper. Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number.

A particle filter approach for AUV localization

“…Many approaches have been developed for autonomous robots, see e.g. [1], [2], [3]. However, the constraints and peculiarities of the underwater environment prevent the simple transposition of available techniques for land or aerial vehicles, requiring a careful study of the implications of each approach for underwater system performance [4].…”

Bridging the Gaps: Hybrid Tracking for Adaptive Mobile Augmented Reality

“…Example studies can be found in the field of mobile robotics, where this concept is called model matching or map-based positioning (Borenstein et al 1997).…”

Study of an Innovative Indoor Robotic Navigation Approach Based on Beacons and PSD

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