Infrared Beacons based Localization of Mobile Robot

0371815 - ÚT 2012 RIV LT eng J - Článek v odborném periodiku
Krejsa, Jiří - Věchet, Stanislav
Infrared Beacons based Localization of Mobile Robot.
Elektronika ir Elektrotechnika. Roč. 117, č. 1 (2012), s. 17-22. ISSN 1392-1215
Výzkumný záměr: CEZ:AV0Z20760514
Klíčová slova: mobile robot localization * extended Kalman filter * autonomous mobile robot
Kód oboru RIV: JD - Využití počítačů, robotika a její aplikace
Impakt faktor: 0.411, rok: 2012
http://www.eejournal.ktu.lt/index.php/elt/article/view/1046

The paper introduces the method for indoor localization of a mobile robot based on infrared beacons positioned stationary in the environment. The beacons provide bearing only information, fused together with either motion controllers commands or robot odometry via Extended Kalman filter to estimate the location of the robot. Simulation results include comparison with UKF and PF based localization and comparison with distance, distance/bearing beacons measurement. The verification on the test real robot with differential chassis and commercial robot with Ackerman chassis is provided. The main advantage of the method is the low cost of whole localization system.
Trvalý link: http://hdl.handle.net/11104/0205246