Title :
The Range Beacon Placement Problem for Robot Navigation
Author :
Allen, Ross ; MacMillan, Neil ; Marinakis, Dimitri ; Nishat, Rahnuma Islam ; Rahman, Raziur ; Whitesides, Sue
Author_Institution :
Dept. of Comput. Sci., Univ. of Victoria, Victoria, BC, Canada
Abstract :
Instrumentation of an environment with sensors can provide an effective and scalable localization solution for robots. Where GPS is not available, beacons that provide position estimates to a robot must be placed effectively in order to maximize a robots navigation accuracy and robustness. Sonar range-based beacons are reasonable candidates for low cost position estimate sensors. In this paper we explore heuristics derived from computational geometry to estimate the effectiveness of sonar beacon deployments given a predefined mobile robot path. Results from numerical simulations and experimentation demonstrate the effectiveness and scalability of our approach.
Keywords :
computational geometry; mobile robots; path planning; sensor placement; sonar; computational geometry; mobile robot path; range beacon placement problem; robot navigation; sonar beacon deployments; sonar range-based beacons; Acoustics; Entropy; Measurement; Robot sensing systems; Uncertainty; Localization; acoustic ranging beacons; hill climbing; random maps; roomba; simulated annealing;
Conference_Titel :
Computer and Robot Vision (CRV), 2014 Canadian Conference on
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4799-4338-8
DOI :
10.1109/CRV.2014.28
