Efficient placement of beacons for localization of mobile robots considering the positional uncertainty distributions

Jiwoong Kim, Woo Jin Chung

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

Localization performance depends upon the uncertainties of estimated positions. Although there have been many researches made to reduce the uncertainty, the intrinsic characteristic of uncertainty has not been efficiently considered. Therefore, this paper proposes a novel localization method that can considerably reduce the positional uncertainty of a mobile robot by focusing on the uncertainty distributions of the motion model and the sensor model. More specifically, we suggest beacon placement techniques in which the uncertainty distributions from odometry and ultrasonic beacons are considered. Simulation results show that the proposed method provides reliable localization performance in an environment where the number of installed beacons is smaller than that required of the conventional methods.

Original languageEnglish
Pages (from-to)119-127
Number of pages9
JournalInternational Journal of Robotics and Automation
Volume30
Issue number2
DOIs
Publication statusPublished - 2015

Fingerprint

Mobile Robot
Mobile robots
Placement
Uncertainty
Ultrasonics
Sensor
Motion
Sensors
Model
Simulation

Keywords

  • Beacon placement
  • Localization
  • Motion model
  • Sensor model
  • Uncertainty distribution

ASJC Scopus subject areas

  • Software
  • Electrical and Electronic Engineering
  • Modelling and Simulation
  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence

Cite this

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