Title :
A study on packet design to realize position estimation as well as information-communication for mobile robot
Author :
Iwakura, Ryo ; Sugimoto, Chika ; Kohno, Ryuji
Author_Institution :
Div. of Phys., Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan
Abstract :
Recently, mobile robot is expected in the office and the welfare institution to execute the work of transportation, the around cleaning, and the guide as a proxy supporting. It is necessary for the server which control the mobile robots remotely, to recognize the environmental variation in surroundings of the mobile robots accurately. We assume the mobile robots are in indoor environment. We consider the packet composition for performing wireless communication with position estimation within 1 packet. We propose the algorithm which changes the number of position estimation adaptively by using picture information. We show the improvement of RMSE and throughput by the proposal algorithm.
Keywords :
indoor radio; mobile robots; radionavigation; telerobotics; ultra wideband communication; RMSE; environmental variation recognition; indoor environment; information communication; mobile robot; packet composition; packet design; picture information; position estimation; remote control; wireless communication; AWGN; Binary phase shift keying; Estimation; IEEE 802.15 Standards; Mobile communication; Robots;
Conference_Titel :
Medical Information and Communication Technology (ISMICT), 2012 6th International Symposium on
Conference_Location :
La Jolla, CA
Print_ISBN :
978-1-4673-1234-9
DOI :
10.1109/ISMICT.2012.6203044
