Sensor network based localization algorithm using fusion sensor-agent for indoor service robot

We propose a system architecture and algorithm for improved localization of indoor service robots. Many studies on sensor network based localization systems have been reported for indoor service robots. Previous sensor network based localization systems have used a sensor-agent which is composed of...

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Bibliographic Details
Published in:IEEE transactions on consumer electronics 2010-08, Vol.56 (3), p.1457-1465
Main Authors: Choi, Byoung-suk, Lee, Ju-jang
Format: Article
Language:English
Subjects:
Algorithms
Architecture
Cameras
fusion sensor-agent (FSA)
Indoor
Indoor service robot
Localization
Networks
Passive RFID tags
Position (location)
Robot kinematics
Robot vision systems
sensor network
Sensors
Service robots
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Summary:We propose a system architecture and algorithm for improved localization of indoor service robots. Many studies on sensor network based localization systems have been reported for indoor service robots. Previous sensor network based localization systems have used a sensor-agent which is composed of only one kind of sensor, but such an arrangement may have difficulty adapting to changing environmental conditions. Therefore, we configure the sensor-agent with different kinds of sensors using a sensor fusion concept. To do so, we propose a novel architecture for a sensor network based localization system. We further propose a localization algorithm which processes the position data from each sensor-agent. Finally, we apply the proposed localization algorithm to real indoor service robots and demonstrate the improved localization ability of the service robots.
ISSN:0098-3063
1558-4127
DOI:10.1109/TCE.2010.5606283