A TIGHTLY COUPLED HEADING AND POSITIONING SYSTEM FOR INDOOR NAVIGATION OF MOBILE ROBOTS

Hikmet Yücel; Rifat Edizkan; Ahmet Yazici

doi:10.31796/ogummf.900354

EN TR

A TIGHTLY COUPLED HEADING AND POSITIONING SYSTEM FOR INDOOR NAVIGATION OF MOBILE ROBOTS

Abstract

This study shows the effectiveness of data fusion techniques to achieve robust heading and position information in localization systems. The proposed system that has tightly coupled structure calculates heading and position of the mobile robot using the absolute and relative positioning subsystems. The relative positioning subsystem obtains heading and position information by using the odometry information and kinematic model of the robot. Absolute positioning subsystem, calculates position and rough heading information using ultrasonic signals. In this study, firstly the robust heading information is calculated by combining absolute and relative heading with conventional Kalman Filter. And then the correction on the relative position measurement has been made by using this robust heading information. Finally, in order to better positional information, an adaptive Kalman filter is applied for fusing the the absolute position and the corrected relative position. In the experimental study, the positional accuracy and precision of the system is obtained as 63 mm and 86% (for positional error<100mm) respectively for the test environment. The proposed system gives more reliable, continuous and less noisy heading and position information and is suitable for many tasks in indoor environments.

Keywords

Indoor positioning , Heading , Fusion , Adaptive Kalman filter , Tightly coupled system

GEZGİN ROBOTLARIN İÇ ORTAMDA SEYRÜSEFERİ İÇİN SIKI BAĞLI BİR BAŞ AÇISI VE KONUMLANDIRMA SİSTEMİ

Öz

Bu çalışma, veri tümleştirme tekniklerinin, konumlandırma sistemlerinde gürbüz baş açısı ve konum bilgisi elde etmede etkinliğini göstermektedir. Önerilen system, gezgin robotun mutlak ve bağıl konumlandırma alt sistemlerini kullanarak baş açısı ve konum hesaplayan sıkı bağlı bir yapıya sahiptir. Bağıl konumlandırma alt sistemi, robotun odometre bilgilerini ve kinematik modelini kullanarak baş açısı ve konum bilgilerini elde eder. Mutlak konumlandırma sistemi ise, ultrasonik sinyalleri kullanarak konum ve aba baş açısı bilgisi elde etmektedir. Bu çalışmada, ilk olarak mutlak ve bağıl baş açısı bilgileri, geleneksel Kalman Filtresi ile tümleştirilerek gürbüz baş açısı bilgisi hesaplanmıştır. Daha sonra, bu gürbüz baş açısı bilgisi kullanılarak, bağıl konum ölçümünde düzeltme yapılmıştır. Son olarak, daha iyi konum bilgisi için, mutlak konum ve düzeltilmiş bağıl konumu tümleştirmek için uyarlanabilir bir Kalman filtresi uygulanmıştır. Deneysel çalışmada, sistemin konumsal doğruluğu ve hassasiyeti, test ortamı için sırasıyla 63 mm ve % 86 (konum hatası <100mm için) olarak elde edilmiştir. Önerilen sistem daha güvenilir, sürekli ve daha az gürültülü baş açısı ve konum bilgisi vermekte olup iç ortamlardaki birçok görev için uygundur.

Anahtar Kelimeler

İç ortam konumlandırma , Baş açısı , Tümleştirme , Adaptif Kalman süzgeci , Sıkı bağlı sistem

References

Afzal, M. H., Renaudin, V., & Lachapelle, G. (2011, September). Magnetic field based heading estimation for pedestrian navigation environments. In 2011 International Conference on Indoor Positioning and Indoor Navigation (pp. 1-10). IEEE.
Atia, M. M., Noureldin, A., & Korenberg, M. J. (2012). Dynamic propagation modeling for mobile users' position and heading estimation in wireless local area networks. IEEE Wireless Communications Letters, 1(2), 101-104.
Chai, W., Chen, C., Edwan, E., Zhang, J., & Loffeld, O. (2012, March). INS/Wi-Fi based indoor navigation using adaptive Kalman filtering and vehicle constraints. In 2012 9th Workshop on Positioning, Navigation and Communication (pp. 36-41). IEEE.
Farid, Z., Nordin, R., & Ismail, M. (2013). Recent advances in wireless indoor localization techniques and system. Journal of Computer Networks and Communications, 2013.
Höflinger, F., Müller, J., Zhang, R., Reindl, L. M., & Burgard, W. (2013). A wireless micro inertial measurement unit (IMU). IEEE Transactions on instrumentation and measurement, 62(9), 2583-2595.
Kang, W., Nam, S., Han, Y., & Lee, S. (2012, September). Improved heading estimation for smartphone-based indoor positioning systems. In 2012 IEEE 23rd International Symposium on Personal, Indoor and Mobile Radio Communications-(PIMRC) (pp. 2449-2453). IEEE.
Khyam, M. O., Xinde, L., Ge, S. S., & Pickering, M. R. (2017). Multiple access chirp-based ultrasonic positioning. IEEE Transactions on Instrumentation and Measurement, 66(12), 3126-3137.
Kim, S. J., & Kim, B. K. (2012). Dynamic ultrasonic hybrid localization system for indoor mobile robots. IEEE Transactions on Industrial Electronics, 60(10), 4562-4573.
Koo, W., Sung, S., & Lee, Y. J. (2009, August). Development of real-time heading estimation algorithm using magnetometer/IMU. In 2009 ICCAS-SICE (pp. 4212-4216). IEEE.
Kwon, W., Roh, K. S., & Sung, H. K. (2006, May). Particle filter-based heading estimation using magnetic compasses for mobile robot navigation. In Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. (pp. 2705-2712). IEEE.

Liu, H., Darabi, H., Banerjee, P., & Liu, J. (2007). Survey of wireless indoor positioning techniques and systems. IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews), 37(6), 1067-1080.
Munguia, R., & Grau, A. (2011, September). An attitude and heading reference system (AHRS) based in a dual filter. In ETFA2011 (pp. 1-8). IEEE.
Priyantha, N. B. (2005). The cricket indoor location system (Doctoral dissertation, Massachusetts Institute of Technology).
Sun, C. J., Kuo, H. Y., & Lin, C. E. (2010, May). A sensor based indoor mobile localization and navigation using unscented Kalman filter. In IEEE/ION Position, Location and Navigation Symposium (pp. 327-331). IEEE.
Wang, D., Low, C., He, B., & Pham, M. (2004, December). Accurate positioning for real-time control purpose integration of GPS, NAV200 and encoder data. In ICARCV 2004 8th Control, Automation, Robotics and Vision Conference, 2004. (Vol. 1, pp. 161-166). IEEE.
Xiao, W., Ni, W., & Toh, Y. K. (2011, September). Integrated Wi-Fi fingerprinting and inertial sensing for indoor positioning. In 2011 International Conference on Indoor Positioning and Indoor Navigation (pp. 1-6). IEEE.
Yayan, U., Yucel, H. & Yazici, A. (2015). A low cost ultrasonic based positioning system for the indoor navigation of mobile robots. Journal of Intelligent & Robotic Systems, 78(3), 541-552.
Yazici, A., Sipahioglu, A., & Parlaktuna, O. (2009). Heuristic-based dynamic route planning method for a homogeneous multi-robot team. Advanced Robotics, 23(3), 269-287.
Zhang, R., Hoflinger, F., & Reindl, L. (2012). Inertial sensor based indoor localization and monitoring system for emergency responders. IEEE Sensors Journal, 13(2), 838-848.
Zhuang, Y., Shen, Z., Syed, Z., Georgy, J., Syed, H., & El-Sheimy, N. (2014, May). Autonomous WLAN heading and position for smartphones. In Proceedings of IEEE/ION PLANS 2014 (pp. 1113-1121).

Details

Primary Language

English

Subjects

Computer Software

Journal Section

Research Article

Authors

Hikmet Yücel ^*
0000-0001-7657-3567
Türkiye

Rifat Edizkan
0000-0002-5125-5631
Türkiye

Ahmet Yazici
0000-0001-5589-2032
Türkiye

Publication Date

December 31, 2021

Submission Date

March 24, 2021

Acceptance Date

September 4, 2021

Published in Issue

Year 1970 Volume: 29 Number: 3

DOI

https://doi.org/10.31796/ogummf.900354

IZ

https://izlik.org/JA92SW83TL

APA

Yücel, H., Edizkan, R., & Yazici, A. (2021). A TIGHTLY COUPLED HEADING AND POSITIONING SYSTEM FOR INDOOR NAVIGATION OF MOBILE ROBOTS. Eskişehir Osmangazi Üniversitesi Mühendislik Ve Mimarlık Fakültesi Dergisi, 29(3), 346-355. https://doi.org/10.31796/ogummf.900354

AMA

1.Yücel H, Edizkan R, Yazici A. A TIGHTLY COUPLED HEADING AND POSITIONING SYSTEM FOR INDOOR NAVIGATION OF MOBILE ROBOTS. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi. 2021;29(3):346-355. doi:10.31796/ogummf.900354

Chicago

Yücel, Hikmet, Rifat Edizkan, and Ahmet Yazici. 2021. “A TIGHTLY COUPLED HEADING AND POSITIONING SYSTEM FOR INDOOR NAVIGATION OF MOBILE ROBOTS”. Eskişehir Osmangazi Üniversitesi Mühendislik Ve Mimarlık Fakültesi Dergisi 29 (3): 346-55. https://doi.org/10.31796/ogummf.900354.

EndNote

Yücel H, Edizkan R, Yazici A (December 1, 2021) A TIGHTLY COUPLED HEADING AND POSITIONING SYSTEM FOR INDOOR NAVIGATION OF MOBILE ROBOTS. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi 29 3 346–355.

IEEE

[1]H. Yücel, R. Edizkan, and A. Yazici, “A TIGHTLY COUPLED HEADING AND POSITIONING SYSTEM FOR INDOOR NAVIGATION OF MOBILE ROBOTS”, Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi, vol. 29, no. 3, pp. 346–355, Dec. 2021, doi: 10.31796/ogummf.900354.

ISNAD

Yücel, Hikmet - Edizkan, Rifat - Yazici, Ahmet. “A TIGHTLY COUPLED HEADING AND POSITIONING SYSTEM FOR INDOOR NAVIGATION OF MOBILE ROBOTS”. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi 29/3 (December 1, 2021): 346-355. https://doi.org/10.31796/ogummf.900354.

JAMA

1.Yücel H, Edizkan R, Yazici A. A TIGHTLY COUPLED HEADING AND POSITIONING SYSTEM FOR INDOOR NAVIGATION OF MOBILE ROBOTS. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi. 2021;29:346–355.

MLA

Yücel, Hikmet, et al. “A TIGHTLY COUPLED HEADING AND POSITIONING SYSTEM FOR INDOOR NAVIGATION OF MOBILE ROBOTS”. Eskişehir Osmangazi Üniversitesi Mühendislik Ve Mimarlık Fakültesi Dergisi, vol. 29, no. 3, Dec. 2021, pp. 346-55, doi:10.31796/ogummf.900354.

Vancouver

1.Hikmet Yücel, Rifat Edizkan, Ahmet Yazici. A TIGHTLY COUPLED HEADING AND POSITIONING SYSTEM FOR INDOOR NAVIGATION OF MOBILE ROBOTS. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi. 2021 Dec. 1;29(3):346-55. doi:10.31796/ogummf.900354

A TIGHTLY COUPLED HEADING AND POSITIONING SYSTEM FOR INDOOR NAVIGATION OF MOBILE ROBOTS

Abstract

Keywords

GEZGİN ROBOTLARIN İÇ ORTAMDA SEYRÜSEFERİ İÇİN SIKI BAĞLI BİR BAŞ AÇISI VE KONUMLANDIRMA SİSTEMİ

Öz

Anahtar Kelimeler

References

Details

Primary Language

Subjects

Journal Section

Authors

Publication Date

Submission Date

Acceptance Date

Published in Issue

DOI

IZ

Cite