MOBİL ROBOTLARIN BİNA İÇİ KOŞULLARDA ULAŞMA ZAMANI KULLANILARAK KABLOSUZ LOKALİZASYONU

Yıl 2018, , 99 - 119, 31.01.2018

Muzaffer Kanaan , Zeynel Abidin Kuş

https://doi.org/10.28948/ngumuh.364850

Öz

   Bu çalışma bina içi koşullarda çalışmak
durumunda olan mobil robotların ulaşma zamanı tekniği kullanılarak kablosuz
lokalizasyonu hakkındadır. Binanın içinde belli noktalarda konumlandırılmış
referans noktaları vasıtası ile robotun bu noktalara olan mesafesinin ulaşma
zamanı metodu ile tespiti ve buna bağlı olarak robotun konumunun tespiti
(lokalizasyonu) hedeflenmektedir. Çalışmanın literatüre somut katkıları şu
şekilde özetlenebilir. İlk olarak mobil robotun referans noktalarına göre
hareketi sonucu değişen kanal koşullarına bağlı olarak değişken mesafe ölçüm
hatalarının olduğu durumlarda iki farklı lokalizasyon algoritmasının (en küçük
kareler ve ağırlıklı en küçük kareler) performansları karşılaştırmalı olarak
analiz edilmiştir. İkinci olarak mesafe ölçümlerindeki hataları mesafe
ölçümleri lokalizasyon algoritmaları tarafından kullanılmadan önce azaltmayı
hedefleyen bir hata kestirim metodu önerilmiş, bahsedilen lokalizasyon
algoritmalarının performansı bu metot ile beraber analiz edilmiştir. Elde
edilen sonuçlar hata kestirim metodu ile beraber kullanıldığında her iki
algoritmanın performansının sistem senaryolarına bağlı olarak %5-17
oranında iyileştirilebileceğini göstermektedir.

Anahtar Kelimeler

Mobil robot, ulaşma zamanı

WIRELESS INDOOR LOCALIZATION OF MOBILE ROBOTS USING TIME OF ARRIVAL

Öz

   This work focuses on wireless localization
of a mobile robot operating inside a building using the time of arrival
technique. The basic idea is to perform measurements of range (or distance)
between the robot and reference points located at specific points inside the
building by means of time of arrival measurements and using these measurements
to estimate the location of the robot. The contributions of this work can be summarized
as follows. First, the performance of two localization algorithms (namely
least-squares and weighted least-squares) are compared in the presence of
ranging errors that fluctuate as a result of mobile robot movement with respect
to the reference points. Second, an error estimation method is proposed, the
goal of which is to reduce the error in the range measurements prior to their
use with localization algorithms. The performance of the aforementioned
localization algorithms, working in conjunction with this error estimation
method, are analysed. The results clearly indicate that the performance of both
algorithms can be improved by approximately 5-17% depending on system
scenarios.

Anahtar Kelimeler

Mobile robot, time of arrival

Kaynakça

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