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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

A Precise Localization Method for a High Speed Mobile Robot using iGS and Dual Compass

iGS와 듀얼 컴퍼스를 이용한 고속 이동로봇의 정밀 위치 인식기법

  • 장원석 (부산대학교 전자전기공학과) ;
  • 이장명 (부산대학교 전자전기공학과)
  • Received : 2010.09.10
  • Accepted : 2010.12.01
  • Published : 2010.12.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper proposes a precise localization algorithm for a quickly moving mobile robot. In order to localize a mobile robot with active beacon sensors, a relatively long time is needed, since the distance to the beacon is measured using the flight time of the ultrasonic signal. The measurement time does not cause a high error rate when the mobile robot moves slowly. However, with an increase of the mobile robot's speed, the localization error becomes too high to use for accurate mobile robot navigation. Therefore, in this research into high speed mobile robot operations, instead of using two active beacons for localization an active beacon and dual compass are utilized to localize the mobile robot. This new approach resolves the high localization error caused by the speed of the mobile robot. The performance of the precise localization algorithm was verified by comparing it to the conventional method through real-world experiments.

Keywords

References

  1. G. Silveira, E. Malis, and P. Rives, “An efficient direct approach to visual SLAM,” IEEE Transactions on Robotics, vol. 24, issue 5, pp. 969-979, Oct. 2008. https://doi.org/10.1109/TRO.2008.2004829
  2. S. Hernandez, C. A. Morales, J. M. Torres, and L. Acosta, “A new localization system for autonomous robots,” Proc. of IEEE International Conference on Robotics and Automation, vol. 2, pp. 1588-1593, Sep. 2003.
  3. J. Gonzalez, J. L. Blanco, C. Galindo, A. Oriz-de-Galisteo, J. A. Fernandez-Madrigal, F. A. Moreno, and J. L. Martinez, “Mobile robot localization based on ultra-wide-band ranging: a particle filter approach,” Journal of Robotics and Autonomous System, vol. 57, no. 5, pp. 496-507, May 2009. https://doi.org/10.1016/j.robot.2008.10.022
  4. S. Han, H. Lim, and J. Lee, “An efficient localization scheme for a differential-driving mobile robot cased on RFID system,” IEEE Transactions on Industrial Electronics, vol. 54, no. 6, pp. 3362-3369, Dec. 2007. https://doi.org/10.1109/TIE.2007.906134
  5. G. Bleser and D. Stricker, “Advanced tracking through efficient image processing and visual-inertial sensor fusion,” Journal of Computer and Graphics, vol. 33, no. 1, pp. 59-72, Feb. 2009. https://doi.org/10.1016/j.cag.2008.11.004
  6. D. Lo, R.A. Goubran, R. M. Dansereau, G. Tompson, and D. Schulz, “Robust joint audio-video localization in video conferencing using reliability information,” IEEE Transactions on Instrumentation and Measurement, vol. 53, no. 4, pp. 1132-1139, Aug. 2004. https://doi.org/10.1109/TIM.2004.831181
  7. P. Krammer and H. Schweinzer, “Localization of object edges in arbitrary spatial positions based on ultrasonic data,” IEEE Sensors Journal, vol. 6, no. 1, pp. 203-210, Feb. 2006. https://doi.org/10.1109/JSEN.2005.860359
  8. S. B. Lazarus, I. Ashokaraj, A. Tsourdos, R. Zbikowski, P. M. G. Silson, N. Aouf, and B. A. White, “Vehicle localization using sensors data fusion via integration of covariance intersection and interval analysis,” IEEE Sensors Journal, vol. 7, no. 9, pp. 1302-1314, Sep. 2007. https://doi.org/10.1109/JSEN.2007.901556
  9. P. U. Lima, “A Bayesian approach to sensor fusion in autonomous sensor and robot networks,” IEEE Instrumentation & Measurement Magazine, vol. 10, no. 3, pp. 22-27, June 2007. https://doi.org/10.1109/MIM.2007.4284253
  10. C. Tsai, “A localization system of a mobile robot by fusing dead-reckoning and ultrasonic measurements,” Industrial Electronics, IEEE Transactions on, vol. 47, no. 5, pp. 1399-1404, Oct. 1998. https://doi.org/10.1109/19.746618
  11. J. Yun, S. Kim, and J. Lee, “Robust positioning a mobile robot with active beacon sensors,” LNAI 4251, ISSN 0302-9743, Part I, pp. 890-897, Oct. 2006. https://doi.org/10.1007/11892960_107
  12. S. Kim, J. Lee, and I. O. Lee, “Precise indoor localization system for a mobile robot using auto calibration algorithm,” The 13th International Conference on Advanced Robotics, pp. 206-211, Aug. 2007.
  13. S. Han, I. Kang, and J. Lee, “Implementation of spread pose control using dual-electronic compasses,” IEEE Sensors Journal, vol. 9, pp. 69-70, Jan. 2009. https://doi.org/10.1109/JSEN.2008.2010359
  14. J. Ko, W. Kang, Y. Kim, and J. Lee, “Robust electric compass to dynamic magnetic field interface,” Institute of Control, Automation, and Systems Engineers, vol. 11, no. 1, pp. 27-33, Jan. 2005. https://doi.org/10.5302/J.ICROS.2005.11.1.027
  15. K. Lee, Y. Kim, J. Yun, and J. Lee, “Magnetic-interference-free dual-electric compass,” Sensors and Actuators, vol. 120, no. 2, pp. 441-450, May 2005. https://doi.org/10.1016/j.sna.2005.01.032

Cited by

  1. The Tracking of a Moving Object by a Mobile Robot Following the Object’s Sound vol.71, pp.1, 2013, https://doi.org/10.1007/s10846-012-9769-3