Dynamic ultrasonic hybrid localization system for indoor mobile robots

IEEE Transactions on Industrial Electronics

Volumn 60, Issue 10, 2013, Pages 4562-4573

  Kim, Seong Jin ^a   Kim, Byung Kook ^b  

^a Research Institute of Industrial Science and Technology (RIST)   (South Korea)

^b Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

Distance measurements; extended Kalman filter (EKF); localization; mobile robots; ultrasonic sensor

Indexed keywords

ALGORITHMS; DISTANCE MEASUREMENT; ESTIMATION; EXTENDED KALMAN FILTERS; ULTRASONIC SENSORS;

AUTONOMOUS NAVIGATION; DISTANCE INFORMATION; INDOOR MOBILE ROBOTS; LOCALIZATION; ODOMETRIC INFORMATION; SELF-LOCALIZATION ALGORITHMS; ULTRASONIC DISTANCE MEASUREMENTS; ULTRASONIC TRANSMITTERS;

MOBILE ROBOTS;

EID: 84878150036     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2012.2216235     Document Type: Article

References (49)

1. J. Borenstein, H. R. Everett, and L. Feng, "'Where Am I?' Sensors and methods for mobile robot positioning," Univ. Michigan, Ann Arbor, MI, 1996, Tech. Rep.
2. B. Siciliano and O. Khatib, Eds., Springer Handbook of Robotics. Berling, Germany: Springer-Verlag, 2008.
3. B. Barshan and H. Durrant-Whyte, "Inertial navigation systems for mobile robots," IEEE Trans. Robot. Autom., vol. 11, no. 3, pp. 328-342, Jun. 1995.
4. S.-H. P. Won, W. Melek, and F. Golnaraghi, "A Kalman/particle filterbased position and orientation estimation method using a position sensor/inertial measurement unit hybrid system," IEEE Trans. Ind. Electron., vol. 57, no. 5, pp. 1787-1798, May 2010.
5. C. Wang, "Location estimation and uncertainty analysis for mobile robots," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 1988, pp. 1231-1235. (Pubitemid 18667264)
6. A. Kelly, "Linearized error propagation in odometry," Int. J. Robot. Res., vol. 23, no. 2, pp. 179-218, Feb. 2004.
7. C. Borja, J. Tur, and J. Gordillo, "State your position: Accurate position estimation and propagation in autonomous vehicles," IEEE Robot. Autom. Mag., vol. 16, no. 2, pp. 82-90, Jun. 2009.
8. J. Borenstein and L. Feng, "Measurement and correction of systematic odometry errors in mobile robots," IEEE Trans. Robot. Autom., vol. 12, no. 6, pp. 869-880, Dec. 1996. (Pubitemid 126784478)
9. G. Antonelli and S. Chiaverini, "Linear estimation of the physical odometric parameters for differential-drive mobile robots," Auton. Robots, vol. 23, no. 1, pp. 59-68, Jul. 2007. (Pubitemid 47115558)
10. A. Martinelli, N. Tomatis, and R. Siegwart, "Simultaneous localization and odometry self calibration for mobile robot," Auton. Robots, vol. 22, no. 1, pp. 75-85, Jan. 2007. (Pubitemid 46372473)
11. K. Chong and L. Kleeman, "Accurate odometry and error modelling for a mobile robot," in Proc. IEEE Int. Conf. Robot. Autom., 1997, pp. 2783-2788.
12. F. Thomas and L. Ros, "Revisiting trilateration for robot localization," IEEE Trans. Robot., vol. 21, no. 1, pp. 93-101, Feb. 2005. (Pubitemid 40274458)
13. H. Cho and S. W. Kim, "Mobile robot localization using biased chirpspread-spectrum ranging," IEEE Trans. Ind. Electron., vol. 57, no. 8, pp. 2826-2835, Aug. 2010.
14. I. Shimshoni, "On mobile robot localization from landmark bearings," IEEE Trans. Robot. Autom., vol. 18, no. 6, pp. 971-976, Dec. 2002.
15. K. Briechle and U. D. Hanebeck, "Localization of a mobile robot using relative bearing measurements," IEEE Trans. Robot. Autom., vol. 20, no. 1, pp. 36-44, Feb. 2004.
16. S. Se, D. G. Lowe, and J. J. Little, "Vision-based global localization and mapping for mobile robots," IEEE Trans. Robot., vol. 21, no. 3, pp. 364-375, Jun. 2005. (Pubitemid 40858152)
17. R. Penne, L. Mertens, and J. Veraart, "Mobile camera localization using apollonius circles and virtual landmarks," J. Intell. Robot. Syst., vol. 58, no. 3/4, pp. 287-308, Jun. 2010.
18. S. Thrun, W. Burgard, and D. Fox, Eds., Probabilistic Robotics. Cambridge, MA: MIT Press, 2008.
19. J. J. Leonard and H. F. Durrant-Whyte, "Mobile robot localization by tracking geometric beacons," IEEE Trans. Robot. Autom., vol. 7, no. 3, pp. 376-382, Jun. 1991.
20. P. Jensfelt and H. Christensen, "Pose tracking using laser scanning and minimalistic environmental models," IEEE Trans. Robot. Autom., vol. 17, no. 2, pp. 138-147, Apr. 2001. (Pubitemid 32609732)
21. J. González, J. Blanco, C. Galindoa, A. O. de Galisteoa, J. Fernández-Madrigala, F. Morenoa, and J. Martíneza, "Mobile robot localization based on ultra-wide-band ranging: A particle filter approach," Robot. Auton. Syst., vol. 57, no. 5, pp. 496-507, May 2009.
22. J. M. Font and J. A. Batlle, "Consistent triangulation for mobile robot localization using discontinuous angular measurements," Robot. Auton. Syst., vol. 57, no. 9, pp. 931-942, Sep. 2009.
23. K.-W. Lee, J.-B. Park, and B.-H. Lee, "Dynamic localization with hybrid trilateration for mobile robots in intelligent space," Intell. Serv. Robot., vol. 1, no. 3, pp. 221-235, Jul. 2008.
24. S. J. Kim and B. K. Kim, "Accurate hybrid global self-localization algorithm for indoor mobile robots with two-dimensional isotropic ultrasonic receivers," IEEE Trans. Instrum. Meas., vol. 60, no. 10, pp. 3391-3404, Oct. 2011.
25. C.-C. Tsai, "A localization system of a mobile robot by fusing deadreckoning and ultrasonic measurements," IEEE Trans. Instrum. Meas., vol. 47, no. 5, pp. 1399-1404, Oct. 1998. (Pubitemid 128747338)
26. S.-Y. Yi and B.-W. Choi, "Autonomous navigation of indoor mobile robots using a global ultrasonic system," Robotica, vol. 22, no. 4, pp. 369-374, Aug. 2004.
27. C.-C. Tsai, H.-H. Lin, and S.-W. Lai, "Multisensor 3-D posture determination of a mobile robot using inertial and ultrasonic sensors," J. Intell. Robot. Syst., vol. 42, no. 4, pp. 317-335, Apr. 2005. (Pubitemid 41117834)
28. H.-H. Lin, C.-C. Tsai, and J.-C. Hsu, "Ultrasonic localization and pose tracking of an autonomous mobile robot via fuzzy adaptive extended information filtering," IEEE Trans. Instrum. Meas., vol. 57, no. 9, pp. 2024-2034, Sep. 2008.
29. F. Rivard, J. Bisson, F. Michaud, and D. Létourneay, "Ultrasonic relative positioning for multi-robot systems," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Sep. 2008, pp. 323-328.
30. S. Y. Yi, "Global ultrasonic system with selective activation for autonomous navigation of an indoor mobile robot," Robotica, vol. 26, no. 3, pp. 277-283, May 2008.
31. J. Park,M. Choi, Y. Zu, and J. Lee, "Indoor localization system in a multiblock workspace," Robotica, vol. 28, no. 3, pp. 397-403, May 2010.
32. S. J. Kim and B. K. Kim, "Dynamic localization based on EKF for indoor mobile robots using discontinuous ultrasonic distance measurements," in Proc. Int. Conf. Control, Autom. Syst., Oct. 2010, pp. 1912-1917.
33. H. Song, V. Shin, and M. Jeon, "Mobile node localization using fusion prediction based interacting multiple model in cricket sensor network," IEEE Trans. Ind. Electron., vol. 59, no. 11, pp. 4349-4359, Nov. 2011.
34. D. Fox,W. Burgard, and S. Thrun, "Markov localization for mobile robots in dynamic environments," J. Artif. Intell. Res., vol. 11, pp. 391-427, 1999. (Pubitemid 129628770)
35. J. Nieto, J. Guivant, E. Nebot, and S. Thrun, "Real time data association for FastSLAM," in Proc. IEEE Int. Conf. Robot. Autom., Sep. 2003, pp. 412-418.
36. S.-Y. Hwang and J.-B. Song, "Monocular vision-based SLAM in indoor environment using corner, lamp, and door features from upward-looking camera," IEEE Trans. Ind. Electron., vol. 58, no. 10, pp. 4804-4812, Oct. 2011.
37. H. Peremans, K. Audenaert, and J. V. Campenhout, "A high-resolution sensor based on tri-aural perception," IEEE Trans. Robot. Autom., vol. 9, no. 1, pp. 36-48, Feb. 1993.
38. K.-W. Jorg and M. Berg, "First results in eliminating crosstalk and noise by applying pseudo-random sequences to mobile robot sonar sensing," in Proc. Int. Conf. Intell. Robots Syst., 1996, pp. 292-297.
39. Á. Hernandez, J. Urena, J. Garcia, M. Mazo, D. Hernanz, J.-P. Derutin, and J. Serot, "Ultrasonic ranging sensor using simultaneous emissions from different transducers," IEEE Trans. Ultrason., Ferroelect., Freq. Control, vol. 51, no. 12, pp. 1660-1670, Dec. 2004.
40. H. Zhao, L. Mo, and S. Gao, "Barker-coded ultrasound color flow imaging: Theoretical and practical design considerations," IEEE Trans. Ultrason., Ferroelect., Freq. Control, vol. 54, no. 2, pp. 319-331, Feb. 2007.
41. D. Gay, P. Levis, D. Culler, and E. Brewer, nesC 1.2 Language Reference Manual: TinyOS Working Group, Aug. 2005. [Online]. Available: http://www.tinyos.net/dist-2.0.0/tinyos-2.0.0beta1/doc/nesc/ref.pdf
42. K. W. Cheung, H. C. So, W.-K. Ma, and Y. T. Chan, "A constrained least squares approach to mobile positioning: Algorithms and optimality," EURASIP J. Appl. Signal Process., vol. 2006, pp. 1-23, 2006.
43. Ü. Baysal and R. L. Moses, "On the geometry of isotropic arrays," IEEE Trans. Signal Process., vol. 51, no. 6, pp. 1469-1478, Jun. 2003.
44. J. L. Blanco, The Mobile Robot Programming Toolkit (MRPT): MRPT, Apr. 2009. [Online]. Available: http://www.mrpt.org/downloads/mrpt-book.pdf
45. B. M. Popovic, "Efficient golay correlator," Electron. Lett., vol. 35, no. 17, pp. 1427-1428, Aug. 1999.
46. C. D. Marziani, J. Ureña, A. Hernández, M. Mazo, F. Alvarez, J. Garcia, and P. Donato, "Modular architecture for efficient generation and correlation of complementary set of sequences," IEEE Trans. Signal Process., vol. 55, no. 5, pp. 2323-2337, May 2007. (Pubitemid 46695361)
47. M. Dissanayake, P. Newman, S. Clark, H. Durrant-Whyte, andM. Csorba, "A solution to the simultaneous localization and map building (SLAM) problem," IEEE Trans. Robot. Autom., vol. 17, no. 3, pp. 229-241, Jun. 2001. (Pubitemid 32829731)
48. M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit, "FastSLAM: A factored solution to the simultaneous localization and mapping problem," in Proc. Nat. Conf. AAAI, Jul. 2002, pp. 593-598.
49. J. Djugash and S. Singh, "Motion-aided network SLAM with range," Int. J. Robot. Res., vol. 31, no. 5, pp. 604-625, Apr. 2012.