Reliable and efficient landmark-based localization for mobile robots

I. Loevsky; I. Shimshoni

doi:10.1016/j.robot.2010.01.006

Reliable and efficient landmark-based localization for mobile robots

I. Loevsky, I. Shimshoni

Department of Information Systems

Research output: Contribution to journal › Article › peer-review

Abstract

This paper describes an efficient and robust localization system for indoor mobile robots and AGVs. The system utilizes a sensor that measures bearings to artificial landmarks, and an efficient triangulation method. We present a calibration method for the system components and overcome typical problems for sensors of the mentioned type, which are localization in motion and incorrect identification of landmarks. The resulting localization system was tested on a mobile robot. It consumes less than 4% of a Pentium4 3.2 GHz processing power while providing an accurate and reliable localization result every 0.5 s. The system was successfully incorporated within a real mobile robot system which performs many other computational tasks in parallel.

Original language	English
Pages (from-to)	520-528
Number of pages	9
Journal	Robotics and Autonomous Systems
Volume	58
Issue number	5
DOIs	https://doi.org/10.1016/j.robot.2010.01.006
State	Published - 31 May 2010

Keywords

AGV
Angle measurements
Landmarks
Mobile robots
Robot localization

ASJC Scopus subject areas

Software
Control and Systems Engineering
General Mathematics
Computer Science Applications

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10.1016/j.robot.2010.01.006

Cite this

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title = "Reliable and efficient landmark-based localization for mobile robots",

abstract = "This paper describes an efficient and robust localization system for indoor mobile robots and AGVs. The system utilizes a sensor that measures bearings to artificial landmarks, and an efficient triangulation method. We present a calibration method for the system components and overcome typical problems for sensors of the mentioned type, which are localization in motion and incorrect identification of landmarks. The resulting localization system was tested on a mobile robot. It consumes less than 4% of a Pentium4 3.2 GHz processing power while providing an accurate and reliable localization result every 0.5 s. The system was successfully incorporated within a real mobile robot system which performs many other computational tasks in parallel.",

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AU - Shimshoni, I.

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N2 - This paper describes an efficient and robust localization system for indoor mobile robots and AGVs. The system utilizes a sensor that measures bearings to artificial landmarks, and an efficient triangulation method. We present a calibration method for the system components and overcome typical problems for sensors of the mentioned type, which are localization in motion and incorrect identification of landmarks. The resulting localization system was tested on a mobile robot. It consumes less than 4% of a Pentium4 3.2 GHz processing power while providing an accurate and reliable localization result every 0.5 s. The system was successfully incorporated within a real mobile robot system which performs many other computational tasks in parallel.

AB - This paper describes an efficient and robust localization system for indoor mobile robots and AGVs. The system utilizes a sensor that measures bearings to artificial landmarks, and an efficient triangulation method. We present a calibration method for the system components and overcome typical problems for sensors of the mentioned type, which are localization in motion and incorrect identification of landmarks. The resulting localization system was tested on a mobile robot. It consumes less than 4% of a Pentium4 3.2 GHz processing power while providing an accurate and reliable localization result every 0.5 s. The system was successfully incorporated within a real mobile robot system which performs many other computational tasks in parallel.

KW - AGV

KW - Angle measurements

KW - Landmarks

KW - Mobile robots

KW - Robot localization

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JO - Robotics and Autonomous Systems

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ER -

Reliable and efficient landmark-based localization for mobile robots

Abstract

Keywords

ASJC Scopus subject areas

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