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Indoor mobile robot self‑localization based on a low‑cost light system with a novel emitter arrangement
http://hdl.handle.net/10098/10484
http://hdl.handle.net/10098/10484a15ffb1e-fc86-4b60-aa89-a137c4c89567
名前 / ファイル | ライセンス | アクション |
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td10103967.pdf (2.6 MB)
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〓 The Author(s) 2018. This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creat iveco mmons .org/licen ses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2018-08-22 | |||||
タイトル | ||||||
タイトル | Indoor mobile robot self‑localization based on a low‑cost light system with a novel emitter arrangement | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Indoor mobile robot | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Infrared sensor | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ID combination | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Non-unique ID | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Monte-Carlo localization | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_1843 | |||||
資源タイプ | other | |||||
著者 |
Wang, Jun
× Wang, Jun× Takahashi, Yasutake |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper proposes a low-cost infrared (IR) LED system with a novel arrangement that enables the self-localization of an indoor mobile robot. The proposed system uses only low-cost IR LED emitters installed on the ceiling of a building and low-cost IR receivers, each equipped with a photodiode, located on top of the mobile robot for detection. The IR LEDs, which are driven by an on-off keying modulator with various frequencies, are used as active landmarks. The mobile robot localizes itself based on the IR LED signals it receives. Although it would be desirable to assign a unique ID to each emitter, this would be difficult to realize because of the limited number of available frequencies and the production cost resulting from the use of independent microcontrollers. Therefore, we designed a novel landmark configuration consisting of an IR LED array with unique ID-encoding capabilities based on a combination of different frequencies and the repeated use of each ID encoding LED to address the problem of limited frequencies. The novel landmark arrangement reduces the costs associated with production, ID encoding, and computation. A Monte-Carlo localization method with a belief function is utilized to estimate the position and orientation of the mobile robot based on the decoded ID information and received signal strength. The proposed system was tested in a real environment and the experimental results confirmed the validity and accuracy of the system and method. | |||||
書誌情報 |
ROBOMECH Journal 巻 5, 号 1, p. 1-17, 発行日 2018-08-13 |
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出版者 | ||||||
出版者 | Spring | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 21974225 | |||||
書誌レコードID | ||||||
識別子タイプ | NCID | |||||
関連識別子 | TD10103967 | |||||
著者版フラグ | ||||||
出版タイプ | AO | |||||
出版タイプResource | http://purl.org/coar/version/c_b1a7d7d4d402bcce |