Mobile robot localization using biased chirp-spread-spectrum ranging / Hyeonwoo, Cho in IEEE transactions on industrial electronics, Vol. 57 N° 8 (Août 2010)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 57 N° 8 (Août 2010) . - pp. 2826 - 2835 Titre : Mobile robot localization using biased chirp-spread-spectrum ranging Type de document : texte imprimé Auteurs : Hyeonwoo, Cho, Auteur ; Sang Woo, Kim, Auteur Année de publication : 2011 Article en page(s) : pp. 2826 - 2835 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Chirp-spread-spectrum (CSS) ranging Extended Kalman filter (EKF) IEEE 802.15.4a Measurement bias Mobile robot localization Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : In this paper, we propose a method of mobile robot localization based on chirp-spread-spectrum (CSS) ranging. By using the CSS system, the distances between a mobile robot and CSS nodes fixed at known coordinates can be measured according to the time of flight of radio frequency signals. Based on the measured distances, the coordinates of a mobile robot can be calculated by the method of trilateration. To deal with measurement noise, an extended Kalman filter (EKF) can be applied to estimate the coordinate of the mobile robot. These measured distances, however, are not only noisy but also biased. Therefore, the estimated coordinates of the mobile robot represent inconsistent values. To solve the problem of bias, we define a scaling factor, which corresponds to the change of the magnitude of a measured distance vector that is due to biases. Based on the scaling factor, we develop a new biased measurement model and apply the EKF to our model for estimating the coordinates of a mobile robot. Through localization experiments, we evaluate the performance of the proposed algorithm. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5339225 [article] Mobile robot localization using biased chirp-spread-spectrum ranging [texte imprimé] / Hyeonwoo, Cho, Auteur ; Sang Woo, Kim, Auteur . - 2011 . - pp. 2826 - 2835. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 57 N° 8 (Août 2010) . - pp. 2826 - 2835 Mots-clés : Chirp-spread-spectrum (CSS) ranging Extended Kalman filter (EKF) IEEE 802.15.4a Measurement bias Mobile robot localization Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : In this paper, we propose a method of mobile robot localization based on chirp-spread-spectrum (CSS) ranging. By using the CSS system, the distances between a mobile robot and CSS nodes fixed at known coordinates can be measured according to the time of flight of radio frequency signals. Based on the measured distances, the coordinates of a mobile robot can be calculated by the method of trilateration. To deal with measurement noise, an extended Kalman filter (EKF) can be applied to estimate the coordinate of the mobile robot. These measured distances, however, are not only noisy but also biased. Therefore, the estimated coordinates of the mobile robot represent inconsistent values. To solve the problem of bias, we define a scaling factor, which corresponds to the change of the magnitude of a measured distance vector that is due to biases. Based on the scaling factor, we develop a new biased measurement model and apply the EKF to our model for estimating the coordinates of a mobile robot. Through localization experiments, we evaluate the performance of the proposed algorithm. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5339225

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