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Global Localization of an Indoor Mobile Robot with a single Base Station

The navigation tasks in advanced home robotic applications incorporating reliable revisiting strategies are dependent on very low cost but nevertheless rather accurate localization systems. In this paper a localization system based on the principle of trilateration is described. The proposed system uses only a single small base station, but achieves accuracies comparable to systems using spread beacons and it performs sufficiently for map building. Thus it is a standalone system and needs no odometry or other auxiliary sensors. Furthermore a new approach for the problem of the reliably detection of areas without direct line of sight is presented. The described system is very low cost and it is designed for use in indoor service robotics. The paper gives an overview on the system concept and special design solutions and proves the possible performances with experimental results.

Identiferoai:union.ndltd.org:DRESDEN/oai:qucosa:de:qucosa:25904
Date13 February 2012
CreatorsHennig, Matthias, Kirmse, Henri, Janschek, Klaus
PublisherTechnische Universität Dresden
Source SetsHochschulschriftenserver (HSSS) der SLUB Dresden
LanguageEnglish
Detected LanguageEnglish
Typedoc-type:conferenceObject, info:eu-repo/semantics/conferenceObject, doc-type:Text
SourceProceedings of the 4th IFAC Symposium on Mechatronic Systems 2006 (ISBN 978-3-902661-17-3)
Rightsinfo:eu-repo/semantics/openAccess

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