The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Localization for Mobile Robot by Selective Anchors in Indoor GPS and EKF

선택적 Anchors 기반 Indoor GPS 및 EKF를 이용한 이동 로봇 위치 추정

  • 강한구 (충남대학교 메카트로닉스공학과) ;
  • 윤재오 (충남대학교 메카트로닉스공학과) ;
  • 이지홍 (충남대학교 메카트로닉스공학과)
  • Received : 2010.09.08
  • Accepted : 2010.11.22
  • Published : 2011.02.28
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Abstract

This paper proposes a technique of indoor localization for mobile robot by so called indoor GPS and EKF. Basically the concept of indoor GPS is similar outdoor GPS, and the indoor GPS gets distances between Anchors and Tag by a ranging method of CSS and then estimates the coordinate by distances and known Anchor positions. After we performed performance test of indoor GPS system in ideal and multipath environment, we configured that the indoor GPS has internal error factors and external error factors. This paper handled a multipath problem belonging to external error factors. At first various direct physical method are introduced to fix the multipath problems, and as expected we got errors corrected considerably. And then the method of selective anchors for indoor GPS is applied. With these two level improvement of indoor GPS performance, EKF(Extended Kalman Filter) is applied to mobile robot in indoor environment. The usefulness of the proposed methods are shown by a series of experiments in a environment giving contaminated data by multipath.

Keywords

References

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