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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Nguyen, Ngoc-Tan Nguyen, Nam-Hoang Nguyen, Van-Hung Sripimanwat, Keattisak Suebsomran, Anan |
| Copyright Year | 2014 |
| Description | Author affiliation: University of Engineering and Technology (UET), VNU Hanoi, Vietnam (Nguyen, Ngoc-Tan; Nguyen, Nam-Hoang; Nguyen, Van-Hung) || National Electronics and Computer Technology Center, (NECTEC), NSTDA Bangkok, Thailand (Sripimanwat, Keattisak) || Research Center of Intelligent Machines and Robots (IMR), King Mongkut's University of Technology North Bangkok (KMUTNB) Bangkok, Thailand (Suebsomran, Anan) |
| Abstract | This paper deals with localization problem of mobile robots in indoor environment based on Visible Light Communications (VLC). We propose an integrated AOA-RSS localization method of Angle of Arrival (AOA) and Received Signal Strength (RSS) methods to find out position of a mobile robot using an array of photodiodes (PDs). Performance of the integrated localization method depends on the number of PDs mounted on the mobile robot. In order to achieve more accurately in positioning the mobile robot's location, we propose a combination of the proposed AOA-RSS localization method and the Extended Kalman Filter (EKF) algorithm. The efficiency of this combination is proved through computer simulation. The EKF also addresses a significant problem in robot navigation that is to control the mobile robot moving on the specified path in a certain activity. |
| Starting Page | 1 |
| Ending Page | 6 |
| File Size | 470827 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781479940769 |
| ISSN | 21593450 |
| e-ISBN | 9781479940752 |
| DOI | 10.1109/TENCON.2014.7022416 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2014-10-22 |
| Publisher Place | Thailand |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Mobile robots Noise Light emitting diodes Robot sensing systems Robot kinematics Receivers Robot Navigation AOA RSS EKF Odometry |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering Computer Science Applications |
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