Local Positioning System of a Mobile Robot : A Practical Perspective

Author

Kartowisastro, Iman H.

Author_Institution

Dept. of Comput. Eng., Bina Nusantara Univ., Jakarta

fYear

2006

fDate

5-8 Dec. 2006

Firstpage

1

Lastpage

6

Abstract

Localization problem in determining position and orientation of an autonomous robot with respect to a world reference frame is commonly encountered. Personal service robot which has the largest share in the growth of service robot needs a simple and affordable system to overcome this problem. This paper presents an alternative approach to solve localization problem by utilizing local positioning system based on ultrasonic sensors. With this system, 3D information in regards to position and information of a mobile robot can be obtained fast enough to cope with a robot moving with a speed of 30 cm/s. The use of LPS to enhance the performance of control system has been already proven for a mobile robot moving on area with high irregularity surface

Keywords

SLAM (robots); mobile robots; navigation; position control; robot vision; sensor fusion; service robots; ultrasonic transducers; 3D information; autonomous robot; feedback control system; local positioning system; mobile robot; orientation determination; personal service robot; position determination; robot localization; robot movement; ultrasonic sensors; Area measurement; Cameras; Charge coupled devices; Charge-coupled image sensors; Mobile robots; Position measurement; Robot sensing systems; Robot vision systems; Service robots; Sonar navigation; Local Positioning System (LPS); absolute measurement; feedback control system; personal service robot; relative measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on

Conference_Location

Singapore

Print_ISBN

1-4244-0341-3

Electronic_ISBN

1-4214-042-1

Type

conf

DOI

10.1109/ICARCV.2006.345450

Filename

4150235