Mobile Robot Localization Based On Interval Analysis And Mobile Beacons

被引：0
|
作者：
Mansour, Fatma [1 ]
Amairi, Messaoud [1 ]
Abdelkrim, Mohamed Naceur [1 ]
机构：
[1] Univ Gabes, Res Lab MACS LR16ES22, Gabes, Tunisia
来源：
2018 INTERNATIONAL CONFERENCE ON ADVANCED SYSTEMS AND ELECTRICAL TECHNOLOGIES (IC_ASET) | 2017年
关键词：
Interval analysis; localization; mobile Beacons; mobile robot; SIVIA;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Mobile robot localization is a challenging problem and has been the object of several studies and researches in recent years. Different methods have been introduced to solve this problem. In this paper, we propose an algorithm based on interval analysis to decrease the localization error and enhance its robustness. In the phase of ranging, we explore the use of mobile beacons navigating in a circular trajectory around the robot and collecting an interval containing the measured distance. The method takes into account the presence of faulty measurements or outliers. Simulation results show the contributions of the method.
引用
收藏
页码：381 / 386
页数：6
相关论文
共 50 条
  • [1] Infrared Beacons based Localization of Mobile Robot
    Krejsa, J.
    Vechet, S.
    [J]. ELEKTRONIKA IR ELEKTROTECHNIKA, 2012, 117 (01) : 17 - 22
  • [2] MOBILE ROBOT LOCALIZATION BY TRACKING GEOMETRIC BEACONS
    LEONARD, JJ
    DURRANTWHYTE, HF
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1991, 7 (03): : 376 - 382
  • [3] New Approach for Beacons Based Mobile Robot Localization using Kalman Filters
    Paulo Moreira, A.
    Costa, Paulo
    Lima, Jose
    [J]. 30TH INTERNATIONAL CONFERENCE ON FLEXIBLE AUTOMATION AND INTELLIGENT MANUFACTURING (FAIM2021), 2020, 51 : 512 - 519
  • [4] LOCALIZATION OF A MOBILE ROBOT WITH BEACONS TAKING ERRONEOUS DATA INTO ACCOUNT
    DURIEU, C
    CLERGEOT, H
    MONTEIL, F
    [J]. PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, : 1062 - 1068
  • [5] Path Tracking Of a Mobile Robot Based On Interval Analysis
    Mansour, Fatma
    Amairi, Messaoud
    Abdelkrim, Mohamed Naceur
    [J]. 2019 19TH INTERNATIONAL CONFERENCE ON SCIENCES AND TECHNIQUES OF AUTOMATIC CONTROL AND COMPUTER ENGINEERING (STA), 2019, : 180 - 184
  • [6] Ultrasonic Localization of Mobile Robot Using Active Beacons and Code Correlation
    Peca, Marek
    [J]. RESEARCH AND EDUCATION IN ROBOTICS: EUROBOT 2009, 2010, 82 : 116 - 130
  • [7] Localization and Tracking of Indoor Mobile Robot with Beacons and Dead Reckoning Sensors
    Lobo, Allan
    Kadam, Ronit
    Shajahan, Shabeeha
    Malegam, Keshad
    Wagle, Kranti
    Surve, Sunil
    [J]. 2014 IEEE STUDENTS' CONFERENCE ON ELECTRICAL, ELECTRONICS AND COMPUTER SCIENCE (SCEECS), 2014,
  • [8] Self-localization method for mobile robot using acoustic beacons
    Ogiso S.
    Kawagishi T.
    Mizutani K.
    Wakatsuki N.
    Zempo K.
    [J]. ROBOMECH Journal, 2 (1):
  • [9] Mobile Robot Localization Using Beacons and the Kalman Filter Technique for the Eurobot Competition
    Bittel, Oliver
    Blaich, Michael
    [J]. RESEARCH AND EDUCATION IN ROBOTICS - EUROBOT 2011, 2011, 161 : 55 - 67
  • [10] Odometry-free mobile robot localization using bearing only beacons
    Krejsa, J.
    Vechet, S.
    [J]. PROCEEDINGS OF 14TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE (EPE-PEMC 2010), 2010,
12345