A novel mobile robot localization method via finite memory filtering based on refined measurement

Sang Su Lee, Dhong Hun Lee, Dong Kyu Lee, Hyun Ho Kang, Choon Ki Ahn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a new robot localization method for wireless sensor networks (WSNs). The proposed localization method, finite memory filtering based localization (FMFL), considers the refined measurement estimates pose of a mobile robot, unlike existing estimators that use an infinite impulse response (IIR) structure. We design an estimator to minimize the Frobenius norm of the gain matrices to give it high robustness. The method shows excellent performance in environments, where noise information is unknown and in which sudden disturbances are inserted. Moreover, even when the observation is temporarily impossible due to the non-line-of-sight (NLOS) situation or the temporary failure of sensors, the proposed localization scheme still ensures high robustness, unlike existing methods. The performance of the proposed method is experimentally compared with existing methods in a harsh environment.

Original languageEnglish
Title of host publication2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages45-50
Number of pages6
ISBN (Electronic)9781728145693
DOIs
Publication statusPublished - 2019 Oct
Event2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019 - Bari, Italy
Duration: 2019 Oct 62019 Oct 9

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume2019-October
ISSN (Print)1062-922X

Conference

Conference2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
CountryItaly
CityBari
Period19/10/619/10/9

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

Cite this

Lee, S. S., Lee, D. H., Lee, D. K., Kang, H. H., & Ahn, C. K. (2019). A novel mobile robot localization method via finite memory filtering based on refined measurement. In 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019 (pp. 45-50). [8914296] (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics; Vol. 2019-October). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2019.8914296