An Indoor Positioning System Based on Wireless Range and Angle Measurements Assisted by Multi-Modal Sensor Fusion for Service Robot Applications

Beitrag in einer Fachzeitschrift


Details zur Publikation

Autorinnen und Autoren: Dobrev Y, Gulden P, Vossiek M
Zeitschrift: IEEE Access
Verlag: Institute of Electrical and Electronics Engineers (IEEE)
Jahr der Veröffentlichung: 2018
Band: 6
Seitenbereich: 69036-69052
ISSN: 2169-3536
Sprache: Englisch


Abstract

The current trend for automation is expected to a strongly growth in the
area of service robotics. One of the main challenges for reliable
operation of such systems is the measurement of the mobile robot pose in
a given coordinate system. We present an alternative approach to indoor
localization of mobile robots based on the sensor fusion of secondary
radar data with an ultrasonic sensor and odometry. The main advantage of
the proposed system is that it requires only minimum infrastructure and
provides an absolute localization reference to increase the accuracy
and reliability. Measurement campaigns in a university building, a
hospital, and an office building demonstrate a very good localization
performance and prove the advantage of this approach.


FAU-Autorinnen und Autoren / FAU-Herausgeberinnen und Herausgeber

Dobrev, Yassen
Lehrstuhl für Hochfrequenztechnik
Vossiek, Martin Prof. Dr.-Ing.
Lehrstuhl für Hochfrequenztechnik


Einrichtungen weiterer Autorinnen und Autoren

Symeo GmbH


Zitierweisen

APA:
Dobrev, Y., Gulden, P., & Vossiek, M. (2018). An Indoor Positioning System Based on Wireless Range and Angle Measurements Assisted by Multi-Modal Sensor Fusion for Service Robot Applications. IEEE Access, 6, 69036-69052. https://dx.doi.org/10.1109/access.2018.2879029

MLA:
Dobrev, Yassen, Peter Gulden, and Martin Vossiek. "An Indoor Positioning System Based on Wireless Range and Angle Measurements Assisted by Multi-Modal Sensor Fusion for Service Robot Applications." IEEE Access 6 (2018): 69036-69052.

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Zuletzt aktualisiert 2019-30-01 um 14:08