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

fYear

2012

fDate

25-29 March 2012

Firstpage

1

Lastpage

4

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ISMICT.2012.6203044

Filename

6203044