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Localization of Mobile Robot Based on Fusion of Artificial Landmark and RF TDOA Distance under Indoor Sensor Network

Title
Localization of Mobile Robot Based on Fusion of Artificial Landmark and RF TDOA Distance under Indoor Sensor Network
Authors
Kim, Yoon-GuAn, JinungLee, Ki-Dong
DGIST Authors
Kim, Yoon-Gu; An, Jinung; Lee, Ki-Dong
Issue Date
2011-09
Citation
International Journal of Advanced Robotic Systems, 8(4), 203-211
Type
Article
Author Keywords
Artificial landmarkmobile robotlocalizationsensor networkTDOA
ISSN
1729-8814
Abstract
In this paper, we propose a robust and real-time localization method for dynamic environments based on a sensor network; the method combines landmark image information obtained from an ordinary camera and distance information obtained from sensor nodes in an indoor environment. The sensor network provides an effective method for a mobile robot to adapt to changes and guides it across a geographical network area. To enhance the performance, we used a charge-coupled device (CCD) camera and artificial landmarks for self-localization. Experimental results showed that global localization can be achieved with high robustness and accuracy using the proposed localization method.
URI
http://hdl.handle.net/20.500.11750/13414
Publisher
INTECH -OPEN ACCESS PUBLISHER
Related Researcher
  • Author An, Jinung Brain Robot Augmented InteractioN(BRAIN) Laboratory
  • Research Interests
Files:
There are no files associated with this item.
Collection:
Division of Intelligent RoboticsBrain Robot Augmented InteractioN(BRAIN) Laboratory1. Journal Articles


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