A RTLS/DR based localization system architecture for indoor mobile robots

Bingbing Liu, Xiaojun Wu, Vikas Reddy, Dee Meng Kang, Wei Liu
2010 2010 IEEE International Symposium on "A World of Wireless, Mobile and Multimedia Networks" (WoWMoM)  
In this paper, aiming for mobile robot localization in indoor environments, a loosely coupled architecture, which combines indoor Real-time Locating System (RTLS) and dead reckoning (DR) system, is proposed. Within this architecture, the DR is simple and cost effective but subjected to accumulative error; the indoor RTLS can provide absolute, consistent localization estimates, therefore is complementary to DR sensors. The most outstanding feature of this architecture is that it can easily
more » ... ate any type of existing RTLS and DR sensors. Another advantage lies in the fact that this architecture adopts a linear model, thus is exempted from the risk of linearization of non-linear models. An example localization system consisting of an ultra-wideband (UWB) RTLS system and wheel encoders based DR, on a real robot, is implemented to verify the proposed architecture. Experiments have been conducted on this example system and the results have demonstrated its performance.
doi:10.1109/wowmom.2010.5534949 dblp:conf/wowmom/LiuWEKL10 fatcat:obexmoxhk5bd5jxffghtobg7k4