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Description
  • The paper introduces the method for indoor localization of a mobile robot based on infrared beacons positioned stationary in the environment. The beacons provide bearing only information, fused together with either motion controllers commands or robot odometry via Extended Kalman filter to estimate the location of the robot. Simulation results include comparison with UKF and PF based localization and comparison with distance, distance/bearing beacons measurement. The verification on the test real robot with differential chassis and commercial robot with Ackerman chassis is provided. The main advantage of the method is the low cost of whole localization system.
  • The paper introduces the method for indoor localization of a mobile robot based on infrared beacons positioned stationary in the environment. The beacons provide bearing only information, fused together with either motion controllers commands or robot odometry via Extended Kalman filter to estimate the location of the robot. Simulation results include comparison with UKF and PF based localization and comparison with distance, distance/bearing beacons measurement. The verification on the test real robot with differential chassis and commercial robot with Ackerman chassis is provided. The main advantage of the method is the low cost of whole localization system. (en)
Title
  • Infrared Beacons based Localization of Mobile Robot
  • Infrared Beacons based Localization of Mobile Robot (en)
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  • Infrared Beacons based Localization of Mobile Robot
  • Infrared Beacons based Localization of Mobile Robot (en)
skos:notation
  • RIV/61388998:_____/12:00371815!RIV12-AV0-61388998
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  • Z(AV0Z20760514)
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  • 1
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  • 141826
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  • RIV/61388998:_____/12:00371815
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  • mobile robot localization; extended Kalman filter; autonomous mobile robot (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...odStatuVydavatele
  • LT - Litevská republika
http://linked.open...ontrolniKodProRIV
  • [36D326D7EC82]
http://linked.open...i/riv/nazevZdroje
  • Elektronika ir Elektrotechnika
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
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http://linked.open...v/svazekPeriodika
  • 117
http://linked.open...iv/tvurceVysledku
  • Krejsa, Jiří
  • Věchet, Stanislav
http://linked.open...ain/vavai/riv/wos
  • 000300026100004
http://linked.open...n/vavai/riv/zamer
issn
  • 1392-1215
number of pages
http://bibframe.org/vocab/doi
  • 10.5755/j01.eee.117.1.1046
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