Design and implementation of a self-guided indoor robot based on a two-tier localization architecture

We consider building an indoor low-cost mobile robot that can be used in home applications. Due to the complicated nature of home environments, it is essential for such a robot to be self-guided in the sense that it is able to determine its current location as well as navigate to locations where it...

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Bibliographic Details
Published in:Pervasive and mobile computing 2012-04, Vol.8 (2), p.271-281
Main Authors: Yeh, Lun-Wu, Hsu, Ming-Hsiu, Huang, Hong-Ying, Tseng, Yu-Chee
Format: Article
Language:English
Subjects:
Intelligent home
Localization
Pervasive computing
RFID
Robot
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Summary:We consider building an indoor low-cost mobile robot that can be used in home applications. Due to the complicated nature of home environments, it is essential for such a robot to be self-guided in the sense that it is able to determine its current location as well as navigate to locations where it is commanded to. We propose a two-tier architecture to achieve this goal at centimeter-to-meter-level accuracy. The robot can even roam into an area which is new to it. We demonstrate a prototyping system based on an extended iRobot and the results have important implications on intelligent homes. ► We build an indoor mobile robot that can be used in home applications.► The robot can guide itself to any locations by two-tier localization architecture.► The two-tier localization can achieve centimeter-to-meter-level accuracy.► We demonstrate a prototyping system based on an extended iRobot.
ISSN:1574-1192
1873-1589
DOI:10.1016/j.pmcj.2011.04.008