Evaluation of indoor mobile robot localization techniques

Author

Sibai, F.N. ; Trigui, H. ; Zanini, P.C. ; Al-Odail, A.R.

Author_Institution

R&D Center, Saudi Aramco, Dhahran, Saudi Arabia

fYear

2012

fDate

18-20 Dec. 2012

Firstpage

1

Lastpage

6

Abstract

Mobile robot localization is an important operation used in several applications. For instance, the location of the mobile robot can be used to associate environment data captured by the robot with the location where this data is captured, or to issue robot commands dependent on location and remaining battery energy. We explore three localization methods for indoor robots: optical wheel encode, ultrasonic sensors, and received WiFi signal strength. We experiment with these localization methods on a National Instruments wheeled DANI robot, compare their accuracies, and evaluate their merits.

Keywords

electromechanical effects; mobile robots; sensor placement; ultrasonic transducers; wheels; wireless LAN; National Instruments wheeled DANI robot; Wi-Fi received signal strength; battery energy; environment data; indoor mobile robot localization evaluation techniques; mobile robot location; optical wheel encoder; robot commands; ultrasonic sensors; Acoustics; Mobile robots; Robot sensing systems; Wheels; Wireless LAN; Optical Wheel Encoder; Robot localization; Ultrasonic sensor; WLAN localization;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Systems and Industrial Informatics (ICCSII), 2012 International Conference on

Conference_Location

Sharjah

Print_ISBN

978-1-4673-5155-3

Type

conf

DOI

10.1109/ICCSII.2012.6454560

Filename

6454560