Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Localization for Mobile Robot Based on Chirp Spread Spectrum Ranging

Chirp Spread Spectrum거리 측정을 이용한 이동 로봇의 위치 추정

  • 조현우 (포항공과대학교 전자전기공학과) ;
  • 이영훈 (포항공과대학교 전자전기공학과) ;
  • 김상우 (포항공과대학교 전자전기공학과)
  • Published : 2009.10.01
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Abstract

CSS (Chirp Spread Spectrum) specified in IEEE 802.15.4a can be used for ranging applications. In this paper, we apply the CSS to estimate the coordinates of a mobile robot. Four anchor nodes are installed at known positions and a tag node is attached to the target mobile robot. By CSS ranging, we measure the distances between each anchor and the tag node. Based on the measured distances, the coordinates of the mobile robot can be calculated by the method of trilateration. However the calculated coordinates are not accurate because of the errors of the measured distances. Therefore we propose an algorithm for reducing the effect of the errors. The proposed algorithm is executed with the extended Kalman filter. Through localization experiments, we show the performance of the proposed algorithm and the accuracy of the estimated position.

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References

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