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In order to enhance the safety of driving, we propose a vehicle road distance measurement and maintenance system (RDMMS) based on the emerging RFID systems on Roads (RSR), where RFID tags are deployed on the road surface to provide road information to the vehicle that has installed an RFID reader. RDMMS can measure the road distance between two vehicles via analyzing the information stored in the...
Target positioning and tracking become a very challenging topic for indoor applications. To improve the accuracy of indoor position tracking, it is useful to acquire map descriptions of indoor environments, with two major paradigms: accurate metric map (Mmap) and topological map (Tmap). Research has shown the efficiency of using Tmap for positioning, but often poses difficulty to explicitly represent...
In many localization systems, the Mobile Node (MN) takes distance measurements with reference nodes called Anchors (ANs) in order to estimate its position. In general, the MN can obtain a better estimation when it takes measurements with multiple ANs. Unfortunately, this can lead to consume more energy and generate more traffic in the network. In this paper, we present an adaptive mechanism for the...
Range-based localization techniques can yield unacceptably large errors when used in cluttered environments. Clutter in the environment leads to large distance measurement errors due to non-line-of-sight (NLOS) signal propagation. In this paper, we focus on the localization of a mobile node in clutter using a multi-hop localization method, namely DV-Distance, and suggest that node mobility is key...
This paper presents an adaptive scheme for localization of a target from distance measurements and motion control of a mobile agent to pursue this target. First, a robust adaptive law is designed to generate location estimate of the target using distance measurements. Then, following the standard certainty equivalence approach, a motion control law is developed considering substitution of the estimate...
To obtain good position accuracy with state-of-the-art indoor localization algorithms, multiple anchors must be within radio range of the user. However, anchor placement and maintenance is expensive. By reducing the number of anchors per room, overall costs are reduced. In [1], an algorithm that can estimate the position of a user using only one anchor and a priori floor plan information. However,...
This paper attempts to answer a question: for a given traversal area, how to quantify the geometric impact of anchor placement on localization performance. We present a theoretical framework for quantifying the anchor placement impact. An experimental study, as well as the field test using a UWB ranging technology, is presented. These experimental results validate the theoretical analysis. As a byproduct,...
Proximity sensors are increasingly used in distributed monitoring applications, e.g. for surveillance purposes. However, most of existing solutions have two different, usually contrasting requirements, i.e. either they have strong directional features, or they just cover very short distances. In order to tackle such issues, in this paper a new, almost omnidirectional proximity detection technique...
In mobile-beacon assisted sensor localization, beacon mobility scheduling aims to determine the best beacon trajectory so that each sensor receives sufficient beacon signals with minimum delay. We propose a novel DeteRministic bEAcon Mobility Scheduling (DREAMS) algorithm, without requiring any prior knowledge of the sensory field. In this algorithm, beacon trajectory is defined as the track of depth-first...
In this paper, we present an intelligent, low-cost scanning range finder for collision avoidance on systems with limited processing power. Our range finder is made low cost and computationally efficient by taking into consideration the actual planning needs for local obstacle avoidance algorithms to dynamically select the area to sample range measurements from. We present a modified version of Trajectory...
Parallel parking is challenge for all drivers say amateurs or the experts. An automatic car parking system is a solution to this ordeal. This vehicular technology has been implemented using many other systems but a cost effective, simple and accurate solution will be greatly appreciated. This paper explains in detail a simple and precise autonomous car-parking algorithm for Ackerman steering configuration...
This paper considers the problem of localization and circumnavigation of a slowly drifting target with unknown speed using the agent's known position and the bearing angle of the target. We first assume that the target is stationary and propose an estimator to localize the target and a control law that forces the agent to move on a circular trajectory around the target such that both the estimator...
The authors previously proposed an Unmanned Ground Vehicle (UGV) in an orchard as a base platform for autonomous robot systems for performing tasks such as monitoring, pesticide spraying, and harvesting. To control a UGV in a semi-natural environment, accurate self-localization and a control law that is robust under large disturbances from rough terrain are the first priorities. In this paper, a self-localization...
Mapping and localization for indoor robotic navigation is a well-studied field. However, existing work largely relies on long range perceptive sensors in addition to the robot's odometry, and little has been done with short range sensors. In this paper, we propose a method for real-time indoor mapping using only short range sensors such as bumpers and/or wall sensors that enable wall-following. The...
We describe a system which follows “trails” for autonomous outdoor robot navigation. Through a combination of visual cues provided by stereo omnidirectional color cameras and ladar-based structural information, the algorithm is able to detect and track rough paths despite widely varying tread material, border vegetation, and illumination conditions. The approaching trail region is simply modeled as...
We present a generalization of the Koenderink-van Doorn (KvD) algorithm that allows robust monocular localization with large motion between the camera frames for a wide range of optical systems including omnidirectional systems and standard perspective cameras. The KvD algorithm estimates simultaneously ego-motion parameters, i.e. rotation, translation, and object distances in an iterative way. However...
We present a method that allows precise vehicle positioning inside buildings like parking garages. It works independently of GNSS and instead uses dead reckoning (DR) and a digital map of the parking garage. No additional hardware or infrastructure is needed, since the used inertial sensors and odometry are available in current premium series vehicles. Only additional map data for parking garages...
Considering obstacle avoidance for mobile robots, it is effective to generate optimal trajectory dynamically in terms of safety and efficiency. Since it usually requires iterative calculation to get an optimal trajectory, however, high computational cost becomes a problem for practical application, especially for low performance computers like industrial embedded CPUs. In this paper, we propose a...
The paper deals with the localization of mobile robot using the bearing only beacons as the only source of sensor data. The localization is based on Extended Kalman Filter. Derivation of localization algorithm is given together with test results for both simulation and real robot equipped with low cost sensor hardware. Beacons use infrared LEDs detected by the receiver on the robot and position estimator...
Odometry calibration is an essential step for successful navigation of any moving system because most of the control algorithms work based on odometry information. Odometry errors can be categorized as systematic and non-systematic errors. In this paper, a terminal iterative learning control (TILC) based odometry calibration method is proposed to calibrate the systematic errors. First, a TILC algorithm...
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