Title :
Local Positioning System of a Mobile Robot : A Practical Perspective
Author :
Kartowisastro, Iman H.
Author_Institution :
Dept. of Comput. Eng., Bina Nusantara Univ., Jakarta
Abstract :
Localization problem in determining position and orientation of an autonomous robot with respect to a world reference frame is commonly encountered. Personal service robot which has the largest share in the growth of service robot needs a simple and affordable system to overcome this problem. This paper presents an alternative approach to solve localization problem by utilizing local positioning system based on ultrasonic sensors. With this system, 3D information in regards to position and information of a mobile robot can be obtained fast enough to cope with a robot moving with a speed of 30 cm/s. The use of LPS to enhance the performance of control system has been already proven for a mobile robot moving on area with high irregularity surface
Keywords :
SLAM (robots); mobile robots; navigation; position control; robot vision; sensor fusion; service robots; ultrasonic transducers; 3D information; autonomous robot; feedback control system; local positioning system; mobile robot; orientation determination; personal service robot; position determination; robot localization; robot movement; ultrasonic sensors; Area measurement; Cameras; Charge coupled devices; Charge-coupled image sensors; Mobile robots; Position measurement; Robot sensing systems; Robot vision systems; Service robots; Sonar navigation; Local Positioning System (LPS); absolute measurement; feedback control system; personal service robot; relative measurement;
Conference_Titel :
Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on
Conference_Location :
Singapore
Print_ISBN :
1-4244-0341-3
Electronic_ISBN :
1-4214-042-1
DOI :
10.1109/ICARCV.2006.345450
