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Issue No. 04 - April (2013 vol. 24)
ISSN: 1045-9219
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. , pp. 744-753, April 2013, doi:10.1109/TPDS.2012.176
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