Robust Positioning a Mobile Robot with Active Beacon Sensors

With the development of service robots and with the emerging concept of the ubiquitous world, localization of a mobile robot has become a popular issue. Even though several localization schemes have been previously, none of them is free from the economical constraints placed on commercial robots. To implement a real time commercial localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems each of which is composed of an RFID receiver and an ultra-sonic transmitter. The RFID receiver gets the synchronization signal from the mobile robot and the ultra-sonic transmitter sends out a short-term signal to be used for measuring the distance from the beacon to the mobile robot. The position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons which have t...

• Type: Journal
• Year: 2006
• Where: KES
• Authors: JaeMu Yun, SungBu Kim, JangMyung Lee
• Keywords: Information Technology, KES 2006, Localization Scheme, Mobile Robot, Robot