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

fYear

2014

fDate

6-9 May 2014

Firstpage

151

Lastpage

158

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer and Robot Vision (CRV), 2014 Canadian Conference on

Conference_Location

Montreal, QC

Print_ISBN

978-1-4799-4338-8

Type

conf

DOI

10.1109/CRV.2014.28

Filename

6816837