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This paper presents the design and implementation of a perceptual system for the mobile robot using modern sensors and multi-point communication channels. The data extracted from the perceptual system is processed by a sensor fusion model to obtain meaningful information for the robot localization and control. Due to the uncertainties of acquiring data, an extended Kalman filter was applied to get...
Localization for autonomous mobile robot is one of the most important factors. If current position of robot is unknown, it should be impossible to solve a problem such as how to decide and where to go. There are various localization methods developed by previous researches; localization using RFID tag, ultrasonic and image processing and recognizing landmark. However, these methods have problems and...
For outdoor localization, GPS already provides a satisfactory solution. For indoor localization, however, a globally usable solution is still missing. One promising direction that is proposed recently is the fingerprinting-based solution. It involves a training phase to collect the radio signal strength (RSS) patterns in fields where localization is needed into a database (called radio map). The radio...
The purpose of this study is to develop sensor fusion loclization of autonomous mobile robot for outdoor environment. We merge 2 localization models; a camera sensor with particle filter and two GPS sensors with Kalman filter. The marks on the load such as lane, arrow, cross road and speed hump, etc., are most important information in urban environment. The camera device is useful to detect road landmarks,...
A challenge for autonomous rescue robots is determining their position in an unstructured environment. Landmarks are rarely useful since any floor plan for a structure that predates a disaster scenario is likely to have been disrupted by the event that necessitated the rescue response. Navigational aids useful for outdoor navigation, like GPS, are not generally useful in a structure and aids like...
In this paper we present our experimental measurement results using GPS in outdoor tall obstacle free and under tree shading environments. We tested and compared three different GPS receivers using different principles such as Differential GPS, Real Time Kinematic GPS and an innovative system called StarFire DGPS. Coordinate conversion issue is discussed and stationary and moving tests were performed...
This paper reports on the development of the "TAO Aide", an intelligent wheelchair with autonomous traveling capability. The wheelchair can accurately determine its position and direction using internal sensors and external assistance from the surrounding environment, including the Global Positioning System (GPS) and radio frequency identification (RFID). It can also detect obstacles it...
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