Autonomous Position Estimation of a Mobile Node Based on Landmark and Localization Sensor

Title
Autonomous Position Estimation of a Mobile Node Based on Landmark and Localization Sensor
Author(s)
박정식박세준[박세준]서용호[서용호]양태규[양태규]
Issue Date
201404
Publisher
HINDAWI PUBLISHING CORPORATION
Citation
INTERNATIONAL JOURNAL OF DISTRIBUTED SENSOR NETWORKS
Abstract
This study proposes an efficient position estimation method for localizing a mobile node in indoor environment. Although several conventional methods have been successfully applied for position estimation, they have some drawbacks such as low extendibility in an indoor space, intensive computation, and estimation errors. We propose a precise estimation approach based on a localization sensor and artificial landmarks. In our approach, a mobile node autonomously measures the location of landmarks attached to the ceiling with a localization sensor while moving across the landmarks and building a landmark map. And then, the node estimates its location under the ceiling using the map. In this process, we use a landmark histogram and a Kalman filter to reduce estimation errors. Several experiments performed using a mobile robot successfully demonstrated the feasibility of our proposed approach.
URI
http://hdl.handle.net/YU.REPOSITORY/32473http://dx.doi.org/10.1155/2014/507942
ISSN
1550-1329
Appears in Collections:
공과대학 > 모바일정보통신공학과 > Articles
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