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http://dx.doi.org/10.5302/J.ICROS.2008.14.8.752

Efficient Mobile Robot Localization through Position Tracking Bias Mitigation for the High Accurate Geo-location System  

Kim, Gon-Woo (원광대학교 전기전자및정보공학부)
Lee, Sang-Moo (한국생산기술연구원 로봇기술본부)
Yim, Chung-Hieog (서울산업대학교 기계설계 자동화공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.8, 2008 , pp. 752-759 More about this Journal
Abstract
In this paper, we propose a high accurate geo-location system based on a single base station, where its location is obtained by Time-of-Arrival(ToA) and Direction-of-Arrival(DoA) of the radio signal. For estimating accurate ToA and DoA information, a MUltiple SIgnal Classification(MUSIC) is adopted. However, the estimation of ToA and DoA using MUSIC algorithm is a time-consuming process. The position tracking bias is occurred by the time delay caused by the estimation process. In order to mitigate the bias error, we propose the estimation method of the position tracking bias and compensate the location error produced by the time delay using the position tracking bias mitigation. For accurate self-localization of mobile robot, the Unscented Kalman Filter(UKF) with position tracking bias is applied. The simulation results show the efficiency and accuracy of the proposed geo-location system and the enhanced performance when the Unscented Kalman Filter is adopted for mobile robot application.
Keywords
mobile robot localization; bias mitigation; unscented Kalman filter; MUSIC; ToA; DoA;
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