Title :
Localization of ubiquitous environment based mobile robot
Author :
Kim, Yong-Shik ; LEE, Jae Hoon ; Kim, Bong Keun ; Do, Hyunmin ; Tomizawa, Tetsuo ; Ohba, Kohtaro ; Liang, Xuefeng ; Ohara, Kenichi ; Sugawara, Takayuki ; Tanikawa, Tamio
Author_Institution :
Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba
Abstract :
In this paper, a localization method is provided using different-type sensors in ubiquitous environment. Ubiquitous based mobile robot requires information from sensors and structured environment to recognize its own position. In order to recognize the position of mobile robot, it is necessary data structure to integrate information from mobile sensors and the structured environment. An integration method is provided to take full advantage of characteristics of sensors and the structured environment. In this paper, odometric sensor is used as a mobile sensor and starLITE are used as the structured environment. Data of two sources are used as input of the proposed integration method. An extended Kalman filter (EKF) is used as integration filter to estimate sensor data error. The integration mechanism is implemented using P3DX mobile robot in ubiquitous environment.
Keywords :
Kalman filters; mobile robots; nonlinear filters; sensors; ubiquitous computing; EKF; data structure; extended Kalman filter; integration filter; integration method; mobile robot; mobile sensors; odometric sensor; structured environment; ubiquitous environment localization; Artificial intelligence; Infrared image sensors; Intelligent networks; Intelligent sensors; Mobile robots; Radiofrequency identification; Robot sensing systems; Sensor fusion; Sensor phenomena and characterization; Sensor systems; Kalman filter; Localization; sensor data fusion; ubiquitous;
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
DOI :
10.1109/ICCAS.2007.4406754
