Deschide documentul
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Informaţii generale |
| Autor |
Trinh, Lan Anh; Thang, Nguyen Duc; Kim, Donghan; Lee, Sungyoung; Chang, Seongju |
| Publicat |
InTech Open Access Publisher, 2012
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| Detaliază |
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| Abstract |
Localization plays an important role in robotics
for the tasks of monitoring, tracking and controlling a
robot. Much effort has been made to address robot
localization problems in recent years. However, despite
many proposed solutions and thorough consideration, in
terms of developing a low‐cost and fast processing
method for multiple‐source signals, the robot localization
problem is still a challenge. In this paper, we propose a
solution for robot localization with regards to these
concerns. In order to locate the position of a robot, both
the coordinate and the orientation of a robot are
necessary. We develop a localization method using the
Matrix Pencil (MP) algorithm for hybrid detection of
direction of arrival (DOA) and time of arrival (TOA).
TOA of the signal is estimated for computing the distance
between the mobile robot and a base station (BS). Based
on the distance and the estimated DOA, we can estimate
the mobile robot’s position. The characteristics of the
algorithm are examined through analysing simulated
experiments and the results demonstrate the advantages
of our method over previous works in dealing with the
above challenges. The method is constructed based on the
low‐cost infrastructure of radio frequency devices; the
DOA/TOA estimation is performed with just single value
decomposition for fast processing. Finally, the MP
algorithm combined with tracking using a Kalman filter
allows our proposed method to locate the positions of
multiple source signals. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicat: 2004
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