NDLI: Robot Localization Using RE and Inertial Sensors

Content Provider	IEEE Xplore Digital Library
Author	Zmuda, M.A. Elesev, A. Morton, Y.T.
Copyright Year	2008
Description	Author affiliation: Dept. of Comput. Sci. & Syst. Anal., Miami Univ., Oxford, OH (Zmuda, M.A.; Elesev, A.) \|\| Dept. of Electr. & Comput. Eng., Miami Univ., Oxford, OH (Morton, Y.T.)
Abstract	A mobile robot must know its position in order to operate autonomously. The process of determining the robot's absolute position from sensor data is called robot localization. Sonar, inertial, RF, and laser sensors can all be used for navigation and localization purposes. These sensors can achieve good accuracy when operating in certain conditions. For example, sonar is useful when operating in a mapped environment containing known obstacles. Inertial sensors have trouble with drift, which is accentuated when moving continuously for long periods of time. By merging the results from multiple sensors, the accuracy over a wider range of conditions can be obtained. This work proposes a technique of merging heterogeneous signals from inertial and RF sensors. Since sensors have errors associated with their readings, the robot's state will be represented probabilistically. Based on the sensors used in this work, the robot's position, velocity, and acceleration will be estimated using a joint probability distribution function (PDF). At each time step, this PDF will be updated based on the RF readings and then updated again based on the readings from the inertial sensor. The proposed algorithm will be applied to simulation of an uncluttered, level environment. The accuracy of the localization algorithm is compared to the accuracies obtained by other localization algorithms. The results show better localization accuracy when using the RF and inertial sensors together.
Starting Page	343
Ending Page	348
File Size	5918912
Page Count	6
File Format	PDF
ISBN	9781424426157
ISSN	79640977
DOI	10.1109/NAECON.2008.4806569
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-16
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot localization Robot kinematics Robot sensing systems Radio frequency Sonar navigation RF signals Optical sensors Earth Computer science Mobile robots
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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