Wireless Localization Network for Ubiquitous Robotic Space: Approaches and Experimental Test

Author

Ahn, Hyo-Sung ; Yu, Wonpil ; Lee, JaeYeong

Author_Institution

Electron. & Telecommun. Res. Inst., Daejeon

fYear

2007

fDate

26-29 Aug. 2007

Firstpage

481

Lastpage

486

Abstract

This paper outlines research motivations of ubiquitous robotic space (URS) and provides concepts of wireless localization networks, which are used for the navigation of indoor network robots and pedestrian. As components of URS localization system, this paper introduces a calibration algorithm, coarse and fine localization systems, and three key hardware equipments developed: StarLITE, Navi-guider, and UMVC. The StarLITE is a IR-LED sensor, Navi-guider is a tethering system used for robot guidance, and UMVC is a multi-view camera. Based on an experimental test, it will be shown that a UWB-based localization system can be reliably used for the navigation of mobile robots and pedestrian in the ubiquitous robotic space (URS).

Keywords

calibration; cameras; infrared detectors; light emitting diodes; mobile robots; path planning; ubiquitous computing; wireless sensor networks; IR-LED sensor; Navi-guider; StarLITE; UMVC; calibration algorithm; hardware equipment; indoor network robot navigation; mobile robot guidance; multiview camera; pedestrian navigation; ubiquitous robotic space; wireless localization network; Calibration; Hardware; Mobile robots; Navigation; Orbital robotics; Robot sensing systems; Robot vision systems; Sensor systems; Testing; Wireless sensor networks; Navi-guider; StarLITE; UMVC; Ubiquitous robotic space (URS); intelligent robot; wireless sensor network (WSN);

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on

Conference_Location

Jeju

Print_ISBN

978-1-4244-1634-9

Electronic_ISBN

978-1-4244-1635-6

Type

conf

DOI

10.1109/ROMAN.2007.4415131

Filename

4415131