Robust Positioning a Mobile Robot with Active Beacon Sensors

Yun, JaeMu; Kim, SungBu; Lee, Jang-Myung

doi:10.1007/11892960_107

Cited by 17 publications

(6 citation statements)

References 3 publications

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“…The experiments were conducted using RFID with a non-standard frequency, and the identity data were basically used to identify the signal source. Alternatively, accuracy of the position of a mobile robot in three-dimensional space could be calculated using three beacons and an RFID receiver [36]. The RFID receiver acted as a synchronization device for the ToF of the ultrasonic signal between the robot and the beacons.…”

Section: Review Of Position Localization Technologiesmentioning

confidence: 99%

Localization of position using radio frequency identification array

Pearson

2011

Proceedings of the Institution of Mechanical Engineers, Part B:

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In distribution centres, usability of an automated guided vehicle depends on the accuracy of its positioning system. In manufacturing industries and global supply chains, one of the biggest operational costs is to manage movement of goods and materials within the distribution centres. This type of goods movement involves numerous trips. A wide variety of technologies have been proposed but there are still issues in terms of cost, accuracy, line of sight, and installation. To overcome these issues, the inclusion of radio frequency identification (RFID) transponders as a location data source has been found to be promising. The advantage of an RFID system is that it can read a large number of transponders without simultaneous line of sight of the transponders. This paper describes a low-cost, highly flexible two-dimensional positioning system using an RFID array. A large number of experiments are performed and the position of an object is computed by the weighted average method. The effectiveness of different weighting functions to find an optimum strategy for calculating the localized positions over the area of the array is evaluated. Preliminary experimentation shows that this system is capable of locating an object within the array to an accuracy of 31 mm, with an average accuracy of 67 mm, using an array with a 350 mm spacing between tags.

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Section: Review Of Position Localization Technologiesmentioning

confidence: 99%

Localization of position using radio frequency identification array

Pearson

2011

Proceedings of the Institution of Mechanical Engineers, Part B:

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“…The localizer, which is installed on the mobile robot, has an RF transmitter and an ultrasonic signal receiver with a digital signal processor (DSP) to determine the distance to the beacons and to localize the mobile robot by trilateration. 13 This localizer also has a communication circuit to send the location information to the remote operator.…”

Section: Compositionmentioning

confidence: 99%

“…2 can be described by the following two steps: (1) The localizer measures the time of freight (TOF) to the specific beacons and (2) the trilateration measurement for the final position calculation of the mobile robot. 13,14 First of all, the localizer sends out the radio-frequency identification (RFID) for a specific beacon, whose absolute position information is known a priori, and simultaneously turns on the counter starting from zero. The beacons around the localizer may receive the RFID to check whether it matches its own ID.…”

Section: Detailed Operationmentioning

confidence: 99%

Localization of a high-speed mobile robot using global features

Cho

Lee

2010

Robotica

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A new localization algorithm is proposed for a fast moving mobile robot, which utilizes only one beacon and the global features of the differential-driving mobile robot. It takes a relatively long time to localize a mobile robot with active beacon sensors, since the distance to the beacon is measured based on the traveling time of the ultrasonic signal. When the mobile robot is moving slowly, the measurement time does not yield a high error. At a higher speed, however, the localization error becomes too large for the mobile robot to be located accurately. Therefore, in high-speed mobile robot operations, instead of using two or more active beacons, only one active beacon and the global features of the mobile robot are used to localize the mobile robot. The two global features are the radius and center of the rotational motion for the differential-driving mobile robot, which generally describe the motion of, and are used for the trace prediction of, a mobile robot. In high-speed operations, the localizer finds the intersection point of this predicted trace and the circle, which is centered at the beacon whose radius is the distance between the mobile robot and the beacon. This new approach overcomes the large localization error caused by the high speed of the mobile robot. The performance of the new localization algorithm is verified through experiments with a high-speed mobile robot.

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“…An active beacon system (ABS) is designed to achieve this goal, based on the beacon sensors providing the absolute position data to the indoor moving object. 6 The active beacon sensor consists of a radio frequency (RF) receiver and an ultrasonic transmitter mounted on the ceiling and walls of the room. A mobile robot can select a specific beacon, which has its own ID and position information during the navigation by sending a desired beacon code in RF.…”

Section: Introductionmentioning

confidence: 99%

Indoor localization system in a multi-block workspace

Park

Choi

et al. 2009

Robotica

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This paper proposes methodologies and techniques for multiblock navigation of an indoor localization system with active beacon sensors. As service robots and ubiquitous technology have evolved, there is an increasing need for autonomous indoor navigation of mobile robots. In a large number of indoor localization schemes, the absolute position estimation method, relying on navigation beacons or landmarks, has been widely used due to its low cost and high accuracy. However, few of these schemes have managed to expand the applications for use in complicated workspaces involving many rooms or blocks that cover a wide region, such as airports and stations. Since the precise and safe navigation of mobile robots in complicated workspaces is vital for the ubiquitous technology, it is necessary to develop a multi-block navigation scheme. This new design of an indoor localization system includes ultrasonic attenuation compensation, dilution of both the precision analysis and fault detection, and an isolation algorithm using redundant measurements. These ideas are implemented on actual mobile robot platforms and beacon sensors, and experimental results are presented to test and demonstrate the new methods.

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Robust Positioning a Mobile Robot with Active Beacon Sensors

Cited by 17 publications

References 3 publications

Localization of position using radio frequency identification array

Localization of position using radio frequency identification array

Localization of a high-speed mobile robot using global features

Indoor localization system in a multi-block workspace

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