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Infrared Beacons based Localization of Mobile Robot
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SYSNO ASEP 0371815 Document Type J - Journal Article R&D Document Type Journal Article Subsidiary J Článek ve WOS Title Infrared Beacons based Localization of Mobile Robot Author(s) Krejsa, Jiří (UT-L) RID, ORCID
Věchet, Stanislav (UT-L) RID, ORCIDNumber of authors 2 Source Title Elektronika ir Elektrotechnika - ISSN 1392-1215
Roč. 117, č. 1 (2012), s. 17-22Number of pages 6 s. Language eng - English Country LT - Lithuania Keywords mobile robot localization ; extended Kalman filter ; autonomous mobile robot Subject RIV JD - Computer Applications, Robotics CEZ AV0Z20760514 - UT-L (2005-2011) UT WOS 000300026100004 DOI 10.5755/j01.eee.117.1.1046 Annotation 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. Workplace Institute of Thermomechanics Contact Marie Kajprová, kajprova@it.cas.cz, Tel.: 266 053 154 ; Jana Lahovská, jaja@it.cas.cz, Tel.: 266 053 823 Year of Publishing 2012 Electronic address http://www.eejournal.ktu.lt/index.php/elt/article/view/1046
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