Mobile Robot Positioning - Sensors and Techniques
Reads0
Chats0
TLDR
This paper provides a review of relevant mobile robot positioning technologies and defines seven categories for positioning systems: Odometry, Inertial Navigation, Magnetic Compasses, Active Beacons, Global Positioning Systems, Landmark Navigation, and Model Matching.Abstract:
: Exact knowledge of the position of a vehicle is a fundamental problem in mobile robot applications. In the search for a solution, researchers and engineers have developed a variety of systems, sensors, and techniques for mobile robot positioning. This paper provides a review of relevant mobile robot positioning technologies. The paper defines seven categories for positioning systems: (1) Odometry, (2) Inertial Navigation, (3) Magnetic Compasses, (4) Active Beacons, (5) Global Positioning Systems, (6) Landmark Navigation, and (7) Model Matching. The characteristics of each category are discussed and examples of existing technologies are given for each category. The field of mobile robot navigation is active and vibrant, with more great systems and ideas being developed continuously. For this reason the examples presented in this paper serve only to represent their respective categories; they do not represent a judgment by the authors. Many ingenious approaches can be found in the literature, although, for reasons of brevity, not all could be cited in this paper. The appendix contains a tabular comparison of the positioning systems discussed in this review that includes system and description, features, accuracy (position), accuracy (orientation), effective range, and source of information. (47 refs.)read more
Citations
More filters
Journal ArticleDOI
Activity and location recognition using wearable sensors
Seon-Woo Lee,Kenji Mase +1 more
TL;DR: Using measured acceleration and angular velocity data gathered through inexpensive, wearable sensors, this dead-reckoning method can determine a user's location, detect transitions between preselected locations, and recognize and classify sitting, standing, and walking behaviors.
Journal ArticleDOI
A high integrity IMU/GPS navigation loop for autonomous land vehicle applications
TL;DR: The development and implementation of a high integrity navigation system, based on the combined use of the Global Positioning System and an inertial measurement unit (IMU), for autonomous land vehicle applications is described.
Journal ArticleDOI
Design of a wireless assisted pedestrian dead reckoning system - the NavMote experience
Lei Fang,Panos J. Antsaklis,Luis A. Montestruque,M.B. McMickell,Michael D. Lemmon,Yashan Sun,Hui Fang,I. Koutroulis,Martin Haenggi,Min Xie,Xiaojuan Xie +10 more
TL;DR: Simple but effective step detection and step length estimation methods are implemented in order to reduce computation, memory, and communication requirements on the Motes and show that satisfactory tracking performance with relatively long operational time is achieved.
Journal ArticleDOI
A review of mobile robots: Concepts, methods, theoretical framework, and applications
TL;DR: The world of mobile robots is explored including the new trends led by artificial intelligence, autonomous driving, network communication, cooperative work, nanorobotics, friendly human–robot interfaces, safe human-robot interaction, and emotion expression and perception.
Journal ArticleDOI
Research Advance in Swarm Robotics
Ying Tan,Zhongyang Zheng +1 more
TL;DR: The current research on the swarm robotic algorithms are presented in detail, including cooperative control mechanisms in swarm robotics for flocking, navigating and searching applications.
References
More filters
Book
An introduction to the mathematics and methods of astrodynamics
TL;DR: The Problem of Two Bodies and the Initial-Value Problem Solving Kepler's Equation Two-Body Orbital Boundary Value Problem solving Lambert's Problem Appendices Part 2 Non-Keplerian Motion: Patched-Conic Orbits and Perturbation Methods Variation of Parameters Two Body Orbital Transfer Numerical Integration of Differential Equations.
Journal ArticleDOI
Measurement and correction of systematic odometry errors in mobile robots
Johann Borenstein,Liqiang Feng +1 more
TL;DR: Experimental results are presented that show a consistent improvement of at least one order of magnitude in odometric accuracy (with respect to systematic errors) for a mobile robot calibrated with the method described.
Journal ArticleDOI
Inertial navigation systems for mobile robots
TL;DR: A low-cost solid-state inertial navigation system for mobile robotics applications is described and error models for the inertial sensors are generated and included in an extended Kalman filter for estimating the position and orientation of a moving robot vehicle.
Book
Navigating Mobile Robots: Systems and Techniques
TL;DR: This is a survey of the state-of-the-art in sensors, systems, methods and technologies utilized by a mobile robot to determine its position in the environment.
Proceedings ArticleDOI
Position estimation for a mobile robot using vision and odometry
F. Chenavier,James L. Crowley +1 more
TL;DR: A method for locating a mobile robot moving in a known environment that combines position estimation from odometry with observations of the environment from a mobile camera is described.