Mobile robot odometry relying on data fusion from RF and ultrasound measurements in a wireless sensor framework

Panos Marantos, Yannis Koveos, John Stergiopoulos, Athanasia Panousopoulou, Antonios Tzes

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This article focuses on the development of an integrated system for mobile robot odometry relying on an existing wireless transceiver infrastructure. The robot concurrently emits RF and ultrasound signals which are captured by the wireless sensor nodes. These nodes compute their distance from the robot and transmit back to the robot this information. The robot computes its location based on these measurements by rejecting the inaccurate ones using cluster-theory (k-means). The remaining measurements along with wheel distance (shaft encoders), orientation (magnetic compass) are used in a recursive kinematics-framework to compute in a more precise manner the robot's location. Experimental studies are presented to investigate the efficiency of the localization scheme as the robot moves in curvaturecontrolled trajectories defined by Bezier-curves.

    Original languageEnglish (US)
    Title of host publication2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08
    Pages523-528
    Number of pages6
    DOIs
    StatePublished - Oct 6 2008
    Event2008 Mediterranean Conference on Control and Automation, MED'08 - Ajaccio-Corsica, France
    Duration: Jun 25 2008Jun 27 2008

    Other

    Other2008 Mediterranean Conference on Control and Automation, MED'08
    CountryFrance
    CityAjaccio-Corsica
    Period6/25/086/27/08

    Fingerprint

    Data fusion
    Mobile robots
    Ultrasonics
    Robots
    Sensors
    Transceivers
    Sensor nodes
    Wheels
    Kinematics
    Trajectories

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Marantos, P., Koveos, Y., Stergiopoulos, J., Panousopoulou, A., & Tzes, A. (2008). Mobile robot odometry relying on data fusion from RF and ultrasound measurements in a wireless sensor framework. In 2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08 (pp. 523-528). [4602252] https://doi.org/10.1109/MED.2008.4602252

    Mobile robot odometry relying on data fusion from RF and ultrasound measurements in a wireless sensor framework. / Marantos, Panos; Koveos, Yannis; Stergiopoulos, John; Panousopoulou, Athanasia; Tzes, Antonios.

    2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08. 2008. p. 523-528 4602252.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Marantos, P, Koveos, Y, Stergiopoulos, J, Panousopoulou, A & Tzes, A 2008, Mobile robot odometry relying on data fusion from RF and ultrasound measurements in a wireless sensor framework. in 2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08., 4602252, pp. 523-528, 2008 Mediterranean Conference on Control and Automation, MED'08, Ajaccio-Corsica, France, 6/25/08. https://doi.org/10.1109/MED.2008.4602252
    Marantos P, Koveos Y, Stergiopoulos J, Panousopoulou A, Tzes A. Mobile robot odometry relying on data fusion from RF and ultrasound measurements in a wireless sensor framework. In 2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08. 2008. p. 523-528. 4602252 https://doi.org/10.1109/MED.2008.4602252
    Marantos, Panos ; Koveos, Yannis ; Stergiopoulos, John ; Panousopoulou, Athanasia ; Tzes, Antonios. / Mobile robot odometry relying on data fusion from RF and ultrasound measurements in a wireless sensor framework. 2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08. 2008. pp. 523-528
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