Nothing Special   »   [go: up one dir, main page]

Skip to main content

Advertisement

Log in

A New Low Cost System for Autonomous Robot Heading and Position Localization in a Closed Area

  • Published:
Autonomous Robots Aims and scope Submit manuscript

Abstract

A low cost system for the localization of mobile indoor robots is presented. The system is composed of an emitter located on a wall and a receptor on top of the robot. The emitter is a laser pointer acting like a beacon, and the receptor is a cylinder made out of 32 independent photovoltaic cells. The robot's position and orientation are obtained from the moments when the laser crosses each cell.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  • Astrom, K. 1992. A correspondence problem in laser guided navigation. In Proceedings of Symposium on Image Analysis, Sweden, pp. 141–144.

  • Barshan, B. and Durrant-Whyte, H.F. 1995. Inertial sensing for mobile robotics. IEEE Transactions on Robotics and Automation, 11(3):328–342.

    Google Scholar 

  • Borenstein, J., Everett, B., and Feng, L. 1996. Navigating Mobile Robots: Systems and Techniques. A. K. Peters, Ltd.: Wellesley, MA.

    Google Scholar 

  • Borenstein, J., Everett, H.R., and Ferg, L. 1996. Where am I? Sensors and Methods for Mobile Robot Positioning. http://www-personal.engin.umich.edu/~johannb/position.htm

  • Borenstein, J. and Feng, L. 1996. Measurement and correction of systematic odometry errors in mobile robots. IEEE Journal of Robotics and Automation, 12(6):869–880.

    Google Scholar 

  • Borenstein, J. and Feng, L. 1996. Gyrodometry: A new method for combining data from gyros and odometry in mobile robots. In Proc. Of International Conference on Robotics and Automation, (Minneapolis, Minnesota), IEEE, pp. 423–428.

  • Durrant-Whyte, H.F. 1996. An autonomous guided vehicle for cargo handling applications. International Journal of Robotics Research, 15(5):407–409.

    Google Scholar 

  • Elfes, A. 1987. Sonar-based real-world mapping and navigation. IEEE Journal of Robotics and Automation, RA-3(3):249–265.

    Google Scholar 

  • Fox, D., Burgard, W., Kruppa, H., and Thrun, S. 1999. Collaborative multi-robot localization. In Proceedings of the 23rd Annual German Conference on Artificial Intelligence, Bonn, Germany.

  • Fox, D., Burgard, W., Kruppa, H., and Thrun, S. 2000. A probabilistic approach to collaborative multi-robot localization. In Autonomous Robots, 8(3).

  • Goel, P., Roumeliotis, S.I., and Sukhatme, G.S. 1999. Robust localization using relative and absolute position estimates. In Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea, pp. 1134–1140.

  • Hayet, J.B. 2000. Visual localization of a mobile robot in indoor environments with posters. http://www.laas.fr/~jbhayet/icpr2000/latex8.html

  • Jensfelt, P. and Christensen, H.I. 1999. Laser based pose tracking. In Proceedings IEEE International Conference on Robotics and Automation, (Detroit, MI), pp. 2994–3000.

  • Kleeman, L. 1992. Optimal estimation of position and heading for mobile robots using ultrasonic beacons and dead reckoning. In Proceedings of IEEE International Conference on Robotics and Automation, pp. 2582–2587.

  • Leonard, J. and Durrant-Whyte, H. 1991. Mobile robot localization by tracking geometric beacons. IEEE Transactions on Robotics and Automation, 7:376–382.

    Google Scholar 

  • Leonard, J.J. and Durrant-Whyte, H.F. 1991. Mobile robot localization by tracking geometric beacons. In IEEE Transactions on Robotics and Automation, 7(3):376–386.

    Google Scholar 

  • Madsenand, C.B. and Andersen, C.S. 1998. Optimal landmark selection for triangulation of robot position. International Journal of Robotics and Autonomous Systems, 23(4):277–292.

    Google Scholar 

  • Roumeliotis, S.I. and Bekey, G.A. 2000. Bayesian estimation and Kalman filtering: A unified framework for mobile robot localization. In Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, pp. 24–28.

  • Roumeliotis, S.I., Sukhatme, G.S., and Bekey, G.A. 1999. Circumventing dynamic modeling: Evaluation of the error-state Kalman filter applied to mobile robot localization. In Proceedings of the 1999 IEEE International Conference in Robotics and Automation.

  • Talluri, R. and Aggarwal, J. 1993. Position estimation techniques for an autonomous mobile robot—a Review. In Handbook of Pattern Recognition and Computer Vision, World Scientific, Singapore, Ch. 4.4, pp. 769–801.

    Google Scholar 

  • Thrun, S. 1998. Bayesian landmark learning for mobile robot localization. Machine Learning, 33(1).

  • Thrun, S. 1999. Learning maps for indoor mobile robot navigation. Artificial Intelligence.

  • Thrun, S. and Bucken, A. 1996. Integrating grid-based and topological maps for mobile robot navigation. In Proceedings of the 13th National Conference on AI, Portland, OR, pp. 128–133.

  • Weil, G., Wetzler, C., and Puttkamer, E.V. 1994. Keeping track of position and orientation of moving indoor systems by correlation of range-finder scans. In Proceedings of the International Conference on Intelligent Robots and Systems, pp. 595–601.

Download references

Author information

Authors and Affiliations

Authors

Rights and permissions

Reprints and permissions

About this article

Cite this article

Hernández, S., Torres, J., Morales, C. et al. A New Low Cost System for Autonomous Robot Heading and Position Localization in a Closed Area. Autonomous Robots 15, 99–110 (2003). https://doi.org/10.1023/A:1025550223554

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1023/A:1025550223554

Navigation