DocumentCode
3013129
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
fYear
2010
fDate
3-7 May 2010
Firstpage
4391
Lastpage
4396
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location
Anchorage, AK
ISSN
1050-4729
Print_ISBN
978-1-4244-5038-1
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2010.5509232
Filename
5509232
Link To Document