Localization of Mobile Robot Based on Fusion of Artificial Landmark and RF TDOA Distance under Indoor Sensor Network

International Journal of Advanced Robotic Systems

关键词: Artificial landmark;    mobile robot;    localization;    sensor network;    TDOA;   

DOI  :  10.5772/45698

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this paper, we propose a robust and real-time localization method for dynamic environments based on a sensor network; the method combines landmark image information obtained from an ordinary camera and distance information obtained from sensor nodes in an indoor environment. The sensor network provides an effective method for a mobile robot to adapt to changes and guides it across a geographical network area. To enhance the performance, we used a charge-coupled device (CCD) camera and artificial landmarks for self-localization. Experimental results showed that global localization can be achieved with high robustness and accuracy using the proposed localization method.

【 授权许可】

CC BY