TY - GEN
T1 - Mobile robot odometry relying on data fusion from RF and ultrasound measurements in a wireless sensor framework
AU - Marantos, Panos
AU - Koveos, Yannis
AU - Stergiopoulos, John
AU - Panousopoulou, Athanasia
AU - Tzes, Anthony
PY - 2008
Y1 - 2008
N2 - This article focuses on the development of an integrated system for mobile robot odometry relying on an existing wireless transceiver infrastructure. The robot concurrently emits RF and ultrasound signals which are captured by the wireless sensor nodes. These nodes compute their distance from the robot and transmit back to the robot this information. The robot computes its location based on these measurements by rejecting the inaccurate ones using cluster-theory (k-means). The remaining measurements along with wheel distance (shaft encoders), orientation (magnetic compass) are used in a recursive kinematics-framework to compute in a more precise manner the robot's location. Experimental studies are presented to investigate the efficiency of the localization scheme as the robot moves in curvaturecontrolled trajectories defined by Bezier-curves.
AB - This article focuses on the development of an integrated system for mobile robot odometry relying on an existing wireless transceiver infrastructure. The robot concurrently emits RF and ultrasound signals which are captured by the wireless sensor nodes. These nodes compute their distance from the robot and transmit back to the robot this information. The robot computes its location based on these measurements by rejecting the inaccurate ones using cluster-theory (k-means). The remaining measurements along with wheel distance (shaft encoders), orientation (magnetic compass) are used in a recursive kinematics-framework to compute in a more precise manner the robot's location. Experimental studies are presented to investigate the efficiency of the localization scheme as the robot moves in curvaturecontrolled trajectories defined by Bezier-curves.
UR - http://www.scopus.com/inward/record.url?scp=52949140831&partnerID=8YFLogxK
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U2 - 10.1109/MED.2008.4602252
DO - 10.1109/MED.2008.4602252
M3 - Conference contribution
AN - SCOPUS:52949140831
SN - 9781424425051
T3 - 2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08
SP - 523
EP - 528
BT - 2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08
T2 - 2008 Mediterranean Conference on Control and Automation, MED'08
Y2 - 25 June 2008 through 27 June 2008
ER -