NDLI: Low cost indoor mobile robot localization system

Content Provider	IEEE Xplore Digital Library
Author	Lopez, J. Perez, D. Zalama, E. Gomez-Garcia-Bermejo, J.
Copyright Year	2011
Description	Author affiliation: Dep. Ingeniería de Sistemas y automática, University of Vigo, Vigo, Spain (Lopez, J.; Perez, D.) \|\| Instituto Tecnologías de la Producción (ITAP), Universidad de Valladolid, Valladolid, Spain (Zalama, E.; Gomez-Garcia-Bermejo, J.)
Abstract	In this paper a low cost mobile robot localization system that uses the popular Wii remote control (WiiMote) is presented. Both, the WiiMote and a specialized IR light source are located on top of the robot pointing upwards. The IR light is reflected on retroreflective tags located on the ceiling of the robot working area. Two solutions that depend on the working environment, amount of tags needed and robot characteristics are presented. The first solution is deterministic and more restrictive in the quality of sensor data and number of tags. The second solution is a stochastic solution that integrates dead-reckoning information and IR tag readings using a particle filter. The cost of the onboard localization device, including the WiiMote is less than $50 while each tag costs less than $0.05. The system has been tested on a real mobile robot system used for security and surveillance tasks.
Starting Page	1134
Ending Page	1139
File Size	1330983
Page Count	6
File Format	PDF
ISBN	9781457716768
ISSN	21647151
e-ISBN	9781457716768
DOI	10.1109/ISDA.2011.6121811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-11-22
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	localization Atmospheric measurements Robot kinematics Robot vision systems Cameras particle filter Mobile robots Mobile robot
Content Type	Text
Resource Type	Article

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