Assisting 3D Indoor Positioning for Robot Navigation

Yıl 2019, Cilt: 19 Sayı: 1, 85 - 90, 01.01.2019

Ban İsam Rashid Albayati Serkan Kurt

Öz

DOI: 10.26650/electrica.2019.18038

With the increasing employment of mobile
robots to achieve different tasks in various applications, the need for
localization and body position for these robots is increasing rapidly. Many
techniques are proposed to calculate the precise coordinates of a robot based
on the distances measured between the robot and a set of reference points.
Also, internal sensors, such as accelerometers and gyroscopes, are used to
detect the body position and the direction of the robot.  However, the effect of obstacles in an indoor
environment and sensor drifts still limit the applicability of such systems.
Thus, in this study, a novel technique that uses one or more robots to
compensate for the missing stationary points is proposed. The robots in the
proposed technique collaborate to improve the positioning accuracy, by
providing reference points to each other. Per each movement execution of one
robot, the remaining robots remain stationary, to provide the required
reference points. When the robot finishes the movement execution, its position
is updated based on the signals collected from the other robots, in addition to
the position calculated by the onboard sensors. Then, another robot is selected
to execute its movement.. The results show that the proposed method has been
able to improve the positioning accuracy, by increasing the number of
collaborating robots, when the median function if used to select the
coordinates of the robot, among the candidate positions.

Cite this article as: Albayati BIR, Kurt S.
Assisting 3D Indoor Positioning for Robot Navigation. Electrica, 2019; 19(1):
85-90.

Anahtar Kelimeler

Indoor positioning, majority vote, robots

Kaynakça

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• Ban Isam Rashid Albayati received the B.Sc. degree in computer engineering from Al Yarmouk University College, Baghdad, IRQ, in 2012. Since 2015 She is a student the M.Sc. degree in of Electronics and Communication Engineering programme , Institute of Natural And Applied Sciences, YTU.
• Serkan Kurt was born in Kirikkale in 1976. He has obtained his B.Sc in Electrical and Electronics Engineering from Istanbul University in 1999. He has obtained M.Sc degree in Computer Engineering from Gebze Technical University in 2002. He has obtained Phd degree in Electrical Engineering in Yildiz Technical University in 2007. His areas of research includes Sensor Network, Control and Automation, Robotics, System Design. He has been working at Yıldız Technical University since 2002.