The Community for Technology Leaders
RSS Icon
Subscribe
Issue No.04 - April (2013 vol.24)
pp: 744-753
Guoxing Zhan , Dept. of Comput. Sci., Wayne State Univ., Detroit, MI, USA
Weisong Shi , Dept. of Comput. Sci., Wayne State Univ., Detroit, MI, USA
ABSTRACT
It is often important to obtain the real-time location of a small-sized ground robotic vehicle when it performs autonomous tasks either indoors or outdoors. We propose and implement LOBOT, a low-cost, self-contained localization system for small-sized ground robotic vehicles. LOBOT provides accurate real-time, 3D positions in both indoor and outdoor environments. Unlike other localization schemes, LOBOT does not require external reference facilities, expensive hardware, careful tuning or strict calibration, and is capable of operating under various indoor and outdoor environments. LOBOT identifies the local relative movement through a set of integrated inexpensive sensors and well corrects the localization drift by infrequent GPS-augmentation. Our empirical experiments in various temporal and spatial scales show that LOBOT keeps the positioning error well under an accepted threshold.
INDEX TERMS
sensors, mobile robots, path planning, remotely operated vehicles, Global Positioning System, LOBOT system, small-sized ground robotic vehicle, low-cost self-contained localization system, robot position, sensors, localization drift, GPS-augmentation, Vehicles, Global Positioning System, Robot sensing systems, Magnetic sensors, Accelerometers, GPS, Localization, robot, sensor
CITATION
Guoxing Zhan, Weisong Shi, "LOBOT: Low-Cost, Self-Contained Localization of Small-Sized Ground Robotic Vehicles", IEEE Transactions on Parallel & Distributed Systems, vol.24, no. 4, pp. 744-753, April 2013, doi:10.1109/TPDS.2012.176
REFERENCES
[1] K. Yu and I. Oppermann, "UWB Positioning for Wireless Embedded Networks," Proc. IEEE Radio and Wireless Conf., pp. 459-462, Sept. 2004.
[2] L. Thiem, B. Riemer, M. Witzke, and T. Luckenbach, "RFID-Based Localization in Heterogeneous Mesh Networks," Proc. Sixth ACM Conf. Embedded Network Sensor Systems (SenSys '08), pp. 415-416, 2008. http://doi.acm.org/10.11451460412.1460480 .
[3] N. Petrellis, N. Konofaos, and G. Alexiou, "Target Localization Utilizing the Success Rate in Infrared Pattern Recognition," IEEE Sensors J., vol. 6, no. 5, pp. 1355-1364, Oct. 2006.
[4] J. Hesch, F. Mirzaei, G. Mariottini, and S. Roumeliotis, "A Laser-Aided Inertial Navigation System (l-ins) For Human Localization in Unknown Indoor Environments," Proc. IEEE Int'l Conf. Robotics and Automation (ICRA), pp. 5376-5382, May 2010.
[5] G. Borriello, A. Liu, T. Offer, C. Palistrant, and R. Sharp, "Walrus: Wireless Acoustic Location with Room-Level Resolution Using Ultrasound," Proc. Third Int'l Conf. Mobile Systems, Applications, and Services (MobiSys '05), pp. 191-203, 2005. http://doi.acm.org/10.11451067170.1067191 .
[6] K. Whitehouse, C. Karlof, A. Woo, F. Jiang, and D. Culler, "The Effects of Ranging Noise on Multihop Localization: An Empirical Study," Proc. Fourth Int'l Symp. Information Processing in Sensor Networks (IPSN '05), pp. 73-80, Apr. 2005.
[7] K. Whitehouse, C. Karlof, and D. Culler, "A Practical Evaluation of Radio Signal Strength for Ranging-Based Localization," SIGMOBILE Mobile Computing Comm. Rev., vol. 11, pp. 41-52, Jan. 2007, http://doi.acm.org/10.11451234822.1234829 .
[8] N.B. Priyantha, A. Chakraborty, and H. Balakrishnan, "The Cricket Location-Support System," Proc. ACM/IEEE MobiCom, Aug. 2000.
[9] X. Cheng, A. Teler, G. Xue, and D. Chen, "TPS: A Time-Based Positioning Scheme for Outdoor Wireless Sensor Networks," Proc. IEEE INFOCOM, vol. 4, Mar. 2004.
[10] J. Liu, Y. Zhang, and F. Zhao, "Robust Distributed Node Localization with Error Management," Proc. ACM MobiHoc, pp. 250-261, 2006, http://doi.acm.org/10.11451132905.1132933 .
[11] M. Maróti, P. Völgyesi, S. Dóra, B. Kusý, A. Nádas, A. Lédeczi, G. Balogh, and K. Molnmár, "Radio Interferometric Geolocation," Proc. Third Int'l Conf. Embedded Networked Sensor Systems (SenSys '05), pp. 1-12, 2005, http://doi.acm.org/10.11451098918.1098920 .
[12] G. Desouza and A. Kak, "Vision for Mobile Robot Navigation: a Survey," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 24, no. 2, pp. 237-267, Feb. 2002.
[13] P. Lamon and R. Siegwart, "Inertial and 3D-Odometry Fusion in Rough Terrain - Towards Real 3D Navigation," Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS '04), vol. 2, pp. 1716-1721, Sept./Oct. 2004.
[14] B. Liu, M. Adams, and J. Ibanez-Guzman, "Minima Controlled Recursive Averaging Noise Reduction for Multi-Aided Inertial Navigation of Ground Vehicles," Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS '05), pp. 3408-3414, Aug. 2005.
[15] N. Schmitz, J. Koch, M. Proetzsch, and K. Berns, "Fault-Tolerant 3D Localization for Outdoor Vehicles," Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems, pp. 941-946, Oct. 2006.
[16] S. Guha, K. Plarre, D. Lissner, S. Mitra, B. Krishna, P. Dutta, and S. Kumar, "Autowitness: Locating and Tracking Stolen Property while Tolerating GPS and Radio Outages," Proc. Eighth ACM Conf. Embedded Networked Sensor Systems (SenSys '10), pp. 29-42, 2010, http://doi.acm.org/10.11451869983.1869988 .
[17] J. Kim, J. Lee, G. Jee, and T. Sung, "Compensation of Gyroscope Errors and GPS/DR Integration," Proc. IEEE Position Location and Navigation Symp., pp. 464-470, Apr. 1996.
[18] G. Reina, L. Ojeda, A. Milella, and J. Borenstein, "Wheel Slippage and Sinkage Detection for Planetary Rovers," IEEE/ASME Trans. Mechatronics, vol. 11, no. 2, pp. 185-195, Apr. 2006.
[19] N. Priyantha, D. Lymberopoulos, and J. Liu, "EERS: Energy Efficient Responsive Sleeping on Mobile Phones," Proc. Workshop Sensing for App Phones (PhoneSense '10), Nov. 2010.
[20] J. Paek, J. Kim, and R. Govindan, "Energy-Efficient Rate-Adaptive GPS-Based Positioning for Smartphones," Proc. Eighth Int'l Conf. Mobile Systems, Applications, and Services (MobiSys '10), pp. 299-314, 2010, http://doi.acm.org/10.11451814433.1814463 .
[21] Z. Zhuang, K.-H. Kim, and J.P. Singh, "Improving Energy Efficiency of Location Sensing on Smartphones," Proc. Eighth Int'l Conf. Mobile Systems, Applications, and Services (MobiSys '10), pp. 315-330, 2010, http://doi.acm.org/10.11451814433.1814464 .
[22] "Lego Mindstorm nxt 2.0," http:/mindstorms.lego.com, 2009.
[23] "Htc Legend," http://www.htc.com/europespecification.aspx? p_id=313 , 2010.
28 ms
(Ver 2.0)

Marketing Automation Platform Marketing Automation Tool