Mobile robot odometry relying on data fusion from RF and ultrasound measurements in a wireless sensor framework

Panos Marantos, Yannis Koveos, John Stergiopoulos, Athanasia Panousopoulou, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08
Pages523-528
Number of pages6
DOIs
StatePublished - 2008
Event2008 Mediterranean Conference on Control and Automation, MED'08 - Ajaccio-Corsica, France
Duration: Jun 25 2008Jun 27 2008

Publication series

Name2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08

Other

Other2008 Mediterranean Conference on Control and Automation, MED'08
CountryFrance
CityAjaccio-Corsica
Period6/25/086/27/08

ASJC Scopus subject areas

  • Control and Systems Engineering

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