Localization of Mobile Robot Based on Fusion of Artificial Landmark and RF TDOA Distance under Indoor Sensor Network
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 pr...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2011-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/45698 |
| Summary: | 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. |
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| ISSN: | 1729-8814 |