Localization of Mobile Robot Based on Fusion of Artificial Landmark and RF TDOA Distance under Indoor Sensor Network

Title
Localization of Mobile Robot Based on Fusion of Artificial Landmark and RF TDOA Distance under Indoor Sensor Network
Author(s)
이기동김윤구[김윤구]안진웅[안진웅]
Issue Date
201109
Publisher
INTECH -OPEN ACCESS PUBLISHER
Citation
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, v.8, no.4, pp.203 - 211
Abstract
In this paper, we propose a robust and real-time localization method for dynamic environments based on a sensor network; the method combines landmark image information obtained from an ordinary camera and distance information obtained from sensor nodes in an indoor environment. The sensor network provides an effective method for a mobile robot to adapt to changes and guides it across a geographical network area. To enhance the performance, we used a charge-coupled device (CCD) camera and artificial landmarks for self-localization. Experimental results showed that global localization can be achieved with high robustness and accuracy using the proposed localization method.
URI
http://hdl.handle.net/YU.REPOSITORY/24566
ISSN
1729-8806
Appears in Collections:
공과대학 > 컴퓨터공학과 > Articles
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