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Year 2019, Volume: 19 Issue: 1, 85 - 90, 01.01.2019

Abstract

References

  • 1. R. Momose, T. Nitta, M. Yanagisawa, N. Togawa, “An accurate indoor positioning algorithm using particle filter based on the proximity of bluetooth beacons”, in Consumer Electronics (GCCE), 2017 IEEE 6th Global Conference, pp. 1-5, 2017. [CrossRef] 2. S. He, S. H. G. Chan, “Wi-Fi fingerprint-based indoor positioning: Recent advances and comparisons”, IEEE Communications Surveys & Tutorials, vol. 18, pp. 466-490, 2016. [CrossRef] 3. A. Alarifi, A. Al-Salman, M. Alsaleh, A. Alnafessah, S. Al-Hadhrami, M. A. Al-Ammar, eAl-Khalifa HS, “Ultra wideband indoor positioning technologies: Analysis and recent advances”, Sensors, vol. 16, p. 707, 2016. [CrossRef] 4. P. Nazemzadeh, F. Moro, D. Fontanelli, D. Macii, L. Palopoli, “Indoor positioning of a robotic walking assistant for large public environments”, IEEE Transactions on Instrumentation and Measurement, vol. 64, pp. 2965-2976, 2015. [CrossRef] 5. W. Zhang, M. S. Chowdhury, M. Kavehrad, “Asynchronous indoor positioning system based on visible light communications”, Optical Engineering, vol. 53, p. 045105, 2014. [CrossRef] 6. J. Wang, A. Hu, C. Liu, X. Li, “A floor-map-aided WiFi/pseudo-odometry integration algorithm for an indoor positioning system”, Sensors, vol. 15, pp. 7096-7124, 2015. [CrossRef] 7. X.-Y. Lin, T.-W. Ho, C.-C. Fang, Z.-S. Yen, B.-J. Yang, F. Lai, “A mobile indoor positioning system based on iBeacon technology”, in Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE, pp. 4970-4973, 2015. 8. L. P. N. Sekar, A. Santos, O. Beltramello, “IMU Drift Reduction for Augmented Reality Applications”, in International Conference on Augmented and Virtual Reality, pp. 188-196, 2015. 9. M. Narasimhappa, A. D. Mahindrakar, V. C. Guizilini, M. H. Terra, S. L. Sabat, “An improved Sage Husa adaptive robust Kalman Filter for de-noising the MEMS IMU drift signal”, in Indian Control Conference (ICC). 2018, pp. 229-234, 2018. [CrossRef]
  • 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.

Assisting 3D Indoor Positioning for Robot Navigation

Year 2019, Volume: 19 Issue: 1, 85 - 90, 01.01.2019

Abstract

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.

References

  • 1. R. Momose, T. Nitta, M. Yanagisawa, N. Togawa, “An accurate indoor positioning algorithm using particle filter based on the proximity of bluetooth beacons”, in Consumer Electronics (GCCE), 2017 IEEE 6th Global Conference, pp. 1-5, 2017. [CrossRef] 2. S. He, S. H. G. Chan, “Wi-Fi fingerprint-based indoor positioning: Recent advances and comparisons”, IEEE Communications Surveys & Tutorials, vol. 18, pp. 466-490, 2016. [CrossRef] 3. A. Alarifi, A. Al-Salman, M. Alsaleh, A. Alnafessah, S. Al-Hadhrami, M. A. Al-Ammar, eAl-Khalifa HS, “Ultra wideband indoor positioning technologies: Analysis and recent advances”, Sensors, vol. 16, p. 707, 2016. [CrossRef] 4. P. Nazemzadeh, F. Moro, D. Fontanelli, D. Macii, L. Palopoli, “Indoor positioning of a robotic walking assistant for large public environments”, IEEE Transactions on Instrumentation and Measurement, vol. 64, pp. 2965-2976, 2015. [CrossRef] 5. W. Zhang, M. S. Chowdhury, M. Kavehrad, “Asynchronous indoor positioning system based on visible light communications”, Optical Engineering, vol. 53, p. 045105, 2014. [CrossRef] 6. J. Wang, A. Hu, C. Liu, X. Li, “A floor-map-aided WiFi/pseudo-odometry integration algorithm for an indoor positioning system”, Sensors, vol. 15, pp. 7096-7124, 2015. [CrossRef] 7. X.-Y. Lin, T.-W. Ho, C.-C. Fang, Z.-S. Yen, B.-J. Yang, F. Lai, “A mobile indoor positioning system based on iBeacon technology”, in Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE, pp. 4970-4973, 2015. 8. L. P. N. Sekar, A. Santos, O. Beltramello, “IMU Drift Reduction for Augmented Reality Applications”, in International Conference on Augmented and Virtual Reality, pp. 188-196, 2015. 9. M. Narasimhappa, A. D. Mahindrakar, V. C. Guizilini, M. H. Terra, S. L. Sabat, “An improved Sage Husa adaptive robust Kalman Filter for de-noising the MEMS IMU drift signal”, in Indian Control Conference (ICC). 2018, pp. 229-234, 2018. [CrossRef]
  • 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.
There are 3 citations in total.

Details

Primary Language English
Subjects Engineering
Journal Section Articles
Authors

Ban İsam Rashid Albayati

Serkan Kurt This is me

Publication Date January 1, 2019
Published in Issue Year 2019 Volume: 19 Issue: 1

Cite

APA Albayati, B. İ. R., & Kurt, S. (2019). Assisting 3D Indoor Positioning for Robot Navigation. Electrica, 19(1), 85-90.
AMA Albayati BİR, Kurt S. Assisting 3D Indoor Positioning for Robot Navigation. Electrica. January 2019;19(1):85-90.
Chicago Albayati, Ban İsam Rashid, and Serkan Kurt. “Assisting 3D Indoor Positioning for Robot Navigation”. Electrica 19, no. 1 (January 2019): 85-90.
EndNote Albayati BİR, Kurt S (January 1, 2019) Assisting 3D Indoor Positioning for Robot Navigation. Electrica 19 1 85–90.
IEEE B. İ. R. Albayati and S. Kurt, “Assisting 3D Indoor Positioning for Robot Navigation”, Electrica, vol. 19, no. 1, pp. 85–90, 2019.
ISNAD Albayati, Ban İsam Rashid - Kurt, Serkan. “Assisting 3D Indoor Positioning for Robot Navigation”. Electrica 19/1 (January 2019), 85-90.
JAMA Albayati BİR, Kurt S. Assisting 3D Indoor Positioning for Robot Navigation. Electrica. 2019;19:85–90.
MLA Albayati, Ban İsam Rashid and Serkan Kurt. “Assisting 3D Indoor Positioning for Robot Navigation”. Electrica, vol. 19, no. 1, 2019, pp. 85-90.
Vancouver Albayati BİR, Kurt S. Assisting 3D Indoor Positioning for Robot Navigation. Electrica. 2019;19(1):85-90.