Infrared Beacons based Localization of Mobile Robot

Authors

  • J. Krejsa Institute of Thermomechanics AS CR
  • S. Vechet Institute of Thermomechanics AS CR

DOI:

https://doi.org/10.5755/j01.eee.117.1.1046

Abstract

The paper introduces the method for indoor localization of a mobile robot based on infrared beacons positioned stationary in the environment. The beacons provide bearing only information, fused together with either motion controllers commands or robot odometry via Extended Kalman filter to estimate the location of the robot. Simulation results include comparison with UKF and PF based localization and comparison with distance, distance/bearing beacons measurement. The verification on the test real robot with differential chassis and commercial robot with Ackerman chassis is provided. The main advantage of the method is the low cost of whole localization system. Ill. 8, bibl. 17, tabl. 2 (in English; abstracts in English and Lithuanian).

DOI: http://dx.doi.org/10.5755/j01.eee.117.1.1046

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Published

2012-01-11

How to Cite

Krejsa, J., & Vechet, S. (2012). Infrared Beacons based Localization of Mobile Robot. Elektronika Ir Elektrotechnika, 117(1), 17-22. https://doi.org/10.5755/j01.eee.117.1.1046

Issue

Vol. 117 No. 1 (2012)

Section

AUTOMATION, ROBOTICS

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