Naslov
Extending functionality of RF Ultrasound positioning system with dead-reckoning to accurately determine mobile robot’ s orientation

Autori
Kitanov, Andrej ; Tubin, Vedran ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 3rd IEEE Multi-conference on Systems and Control / - Sankt Peterburg : Institute of Electrical and Electronics Engineers (IEEE), 2009, 1152-1157

ISBN
978-1-4244-4602-5

Skup
3rd IEEE Multi-conference on Systems and Control

Mjesto i datum
Sankt Peterburg, Ruska Federacija, 08.07.2009. - 10.07.2009

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
mobile robot; RF-ultrasound transceiver; absolute localization

Sažetak
In this paper we show how to accurately track position and orientation of a mobile robot using positioning only RF Ultrasound transceiver system and dead-reckoning. The solution is based on geometrical displacement of the positioning device from the axis of rotation of the robot which brings dependency in position of the device and robot’ s orientation and enables the correction of the absolute orientation of the robot. Estimation is done via Extended Kalman Filter with variable discretization time because of stochastic nature of measurement arrival times. We describe and analyze the main sources of noise in odometry and position device readings. We also suggest the method for measurement outlier elimination derived from empirical measurement analysis. Experimental verification of the proposed method is presented that yields position error aprox. 1± 2.5 centimeters and 1± 2 degrees.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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