An Indoor Positioning System Based on Wireless Range and Angle Measurements Assisted by Multi-Modal Sensor Fusion for Service Robot Applications

dc.contributor.authorDobrev, Yassen
dc.contributor.authorGulden, Peter
dc.contributor.authorVossiek, Martin
dc.date.accessioned2019-05-10
dc.date.available2019-05-08
dc.date.created2018
dc.date.issued2019-05-10
dc.description.abstractThe current trend for automation is expected to a strongly growth in the area of service robotics. One of the main challenges for reliable operation of such systems is the measurement of the mobile robot pose in a given coordinate system. We present an alternative approach to indoor localization of mobile robots based on the sensor fusion of secondary radar data with an ultrasonic sensor and odometry. The main advantage of the proposed system is that it requires only minimum infrastructure and provides an absolute localization reference to increase the accuracy and reliability. Measurement campaigns in a university building, a hospital, and an office building demonstrate a very good localization performance and prove the advantage of this approach.en
dc.format.extent69036 - 69052
dc.identifier.citationIEEE Access 6 (2018): S. 69036-69052. <https://doi.org/10.1109/ACCESS.2018.2879029>
dc.identifier.doihttps://doi.org/10.1109/ACCESS.2018.2879029
dc.identifier.opus-id11025
dc.identifier.urihttps://open.fau.de/handle/openfau/11025
dc.identifier.urnurn:nbn:de:bvb:29-opus4-110253
dc.language.isoen
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/deed.de
dc.subjectRadar
dc.subjectMobile robots
dc.subjectRobot sensing systems
dc.subjectService robots
dc.subjectRobot kinematics
dc.subjectHospitals
dc.subject.ddcDDC Classification::6 Technik, Medizin, angewandte Wissenschaften :: 60 Technik :: 600 Technik, Technologie
dc.titleAn Indoor Positioning System Based on Wireless Range and Angle Measurements Assisted by Multi-Modal Sensor Fusion for Service Robot Applicationsen
dc.typearticle
dcterms.publisherFriedrich-Alexander-Universität Erlangen-Nürnberg (FAU)
local.journal.titleIEEE Access
local.journal.volume6
local.sendToDnbfree*
local.subject.fakultaetTechnische Fakultät
local.subject.sammlungUniversität Erlangen-Nürnberg / Von der FAU geförderte Open Access Artikel / Von der FAU geförderte Open Access Artikel 2018
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