Title :
Accurate mobile robot localization in indoor environments using bluetooth
Author :
Raghavan, Aswin N. ; Ananthapadmanaban, Harini ; Sivamurugan, Manimaran S. ; Ravindran, Balaraman
Author_Institution :
Dept. of Comput. Sci. & Eng., Nat. Inst. of Technol., Tiruchirapalli, India
Abstract :
In this paper, we describe an accurate method for localization of a mobile robot using bluetooth. We introduce novel approaches for obtaining distance estimates and trilateration that overcome the hitherto known limitations of using Bluetooth for localization. Our approach is reliable and has the potential of being scaled to multi-agent scenarios. The proposed approach was tested on a mobile robot, and we present the experimental results. The error obtained was 0.427 ± 0.229 m, which proves the accuracy of our method.
Keywords :
Bluetooth; mobile robots; Bluetooth; distance estimation; indoor environments; mobile robot localization; multi-agent scenarios; trilateration; Bluetooth; Computer science; Energy consumption; Indoor environments; Mobile communication; Mobile robots; Particle filters; Radio control; Radiofrequency identification; Robotics and automation;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509232
