BeAMS: a Beacon based Angle Measurement Sensor for mobile robot positioning

Pierlot, Vincent; Van Droogenbroeck, Marc

doi:10.1109/TRO.2013.2293834

Download

Article (Scientific journals)

BeAMS: a Beacon based Angle Measurement Sensor for mobile robot positioning

Pierlot, Vincent; Van Droogenbroeck, Marc

2014 • In IEEE Transactions on Robotics, 30 (30), p. 533-549

Peer Reviewed verified by ORBi

Permalink
https://hdl.handle.net/2268/153647

DOI
10.1109/TRO.2013.2293834

Files (1)Send to Details Statistics Bibliography Similar publications

Files

Full Text

Pierlot2014BeAMS.pdf

Author postprint (821.43 kB)

BeAMS: a Beacon based Angle Measurement Sensor for mobile robot positioning

Download

All documents in ORBi are protected by a user license.

Send to

RIS BibTex APA Chicago Permalink X Linkedin

Details

Keywords :

Angle measurement; beacons; infrared detector; mobile robot; robot sensing system; positioning; triangulation; robot

Abstract :

[en] Positioning is a fundamental issue in mobile robot applications, and it can be achieved in multiple ways. Among these methods, triangulation based on angle measurements is widely used, robust, accurate, and flexible. This paper presents BeAMS, a new active beacon-based angle measurement system used for mobile robot positioning. BeAMS introduces several major innovations. One innovation is the use of a unique unsynchronized channel with On-Off Keying modulated infrared signals to measure angles and to identify the beacons. We also introduce a new mechanism to measure angles: our system detects a beacon when it enters and leaves an angular window. We show that the estimator resulting from the center of this angular window provides an unbiased estimate of the beacon angle. A theoretical framework for a thorough performance analysis of BeAMS is provided. We establish the upper bound of the variance and validate this bound through experiments and simulations; the overall error measure of BeAMS is lower than 0.24 deg for an acquisition rate of 10 Hz. In conclusion, BeAMS is a low power, flexible, and robust solution for angle measurement, and a reliable component for robot positioning.

Research center :

Intelsig
Telecommunications and Imaging Laboratory (TELIM)

Disciplines :

Computer science

Author, co-author :

Pierlot, Vincent ; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Dép. d'électric., électron. et informat. (Inst.Montefiore)

Van Droogenbroeck, Marc ; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Télécommunications

Language :

English

Title :

BeAMS: a Beacon based Angle Measurement Sensor for mobile robot positioning

Publication date :

June 2014

Journal title :

IEEE Transactions on Robotics

ISSN :

1552-3098

Publisher :

IEEE, Piscataway, United States - New Jersey

Volume :

Issue :

Pages :

533-549

Peer reviewed :

Peer Reviewed verified by ORBi

Available on ORBi :

since 19 July 2013

Statistics

Number of views

291 (27 by ULiège)

Number of downloads

1762 (13 by ULiège)

More statistics

Scopus citations^®

Scopus citations^®
without self-citations

OpenCitations

Bibliography

Y. Arai and M. Sekiai, "Absolute position measurement system for mobile robot based on incident angle detection of infrared light, " in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Las Vegas, NV, USA, Oct. 2003, vol. 1, pp. 986-991.
A. Argyros, K. Bekris, and S. Orphanoudakis, "Robot homing based on corner tracking in a sequence of panoramic images, " in Proc. IEEE Int. Conf. Comput. Vis. Pattern Recog., Dec. 2001, pp. 3-10.
G. Bauzil, M. Briot, and P. Ribes, "A navigation subsystem using ultrasonic sensors for the mobile robot HILARE, " in Proc. 1st Int. Conf. Robot Vis. Sensory Control, Apr. 1981, Stratford-upon-Avon, U.K, pp. 47-58-681-698.
Y. Beliveau, J. Fithian, and M. Deisenroth, "Autonomous vehicle navigation with real-time 3D laser based positioning for construction, " Autom. Construct., vol. 5, no. 4, pp. 261-272, Oct. 1996.
M. Betke and L. Gurvits, "Mobile robot localization using landmarks, " IEEE Trans. Robot. Autom., vol. 13, no. 2, pp. 251-263, Apr. 1997.
J. Borenstein, H. Everett, and L. Feng, "Where amI? Systems and methods for mobile robot positioning, " Univ. Michigan, Ann Arbor, MI, USA, Tech. Rep., Mar. 1996.
J. Borenstein, H. Everett, L. Feng, and D. Wehe, "Mobile robot positioning-Sensors and techniques, " J. Robot. Syst., vol. 14, no. 4, pp. 231-249, Apr. 1997.
K. Briechle and U. Hanebeck, "Localization of a mobile robot using relative bearing measurements, " IEEE Trans. Robot. Autom., vol. 20, no. 1, pp. 36-44, Feb. 2004.
M. Brkić, M. Lukić, J. Bajić, B. Dakić, and M. Vukadinović, "Hardware realization of autonomous robot localization system, " in Proc. Int. Convent. Inf. Commun. Technol., Electron. Microelectron., Opatija, Croatia, May 2012, pp. 146-150.
C. Cohen and F. Koss, "A comprehensive study of three object triangula-tion, " in Mobile Robots VII. vol. 1831, Boston, MA, USA: SPIE, Nov. 1992, pp. 95-106.
E. Demaine, A. López-Ortiz, and J. Munro, "Robot localization without depth perception, " in Proc. Scand. Workshop Algorithm Theory, Jul. 2002, vol. 2368, pp. 177-194.
G. Demetriou, "A survey of sensors for localization of unmanned ground vehicles (UGVs), " in Proc. Int. Conf. Artif. Intell., vol. 2, Las Vegas, NV, USA, Jun. 2006, pp. 659-668.
V. Durst, D. Hagel, J. Vander, M. Blaich, and O. Bittel, "Designing an omni-directional infrared sensor and beacon system for the eurobot competition, " in Proc. Int. Conf. EUROBOT, Jun. 2011, vol. 161, pp. 102-113.
A. Easton and S. Cameron, "A Gaussian error model for triangulation-based pose estimation using noisy landmarks, " in Proc. IEEE Conf. Robot., Autom. Mechatron., Jun. 2006, Bangkok, Thailand, pp. 1-6.
J. Esteves, A. Carvalho, and C. Couto, "Position and orientation errors in mobile robot absolute self-localization using an improved version of the generalized geometric triangulation algorithm, " in Proc. IEEE Int. Conf. Ind. Technol., Mumbai, India, Dec. 2006, pp. 830-835.
J. Font-Llagunes and J. Batlle, "Localization of a mobile robot with omnidirectional wheels using angular Kalman filtering and triangulation, " in Proc. ASME Conf. Eng. Syst. Design Anal., Jul. 2006, vol. 1, Torino, Italy, pp. 713-720.
J. Font-Llagunes and J. Batlle, "Consistent triangulation for mobile robot localization using discontinuous angular measurements, " Robot. Auton. Syst., vol. 57, no. 9, pp. 931-942, Sep. 2009.
Y. Gu, A. Lo, and I. Niemegeers, "A survey of indoor positioning systems for wireless personal networks, " IEEE Commun. Surv. Tutorials, vol. 11, no. 1, pp. 13-32, First Quarter 2009.
Á. Gutiérrez, A. Campo, M. Dorigo, J. Donate, F. Monasterio-Huelin, and L. Magdalena, "Open e-puck range & bearing miniaturized board for local communication in swarm robotics, " in Proc. IEEE Int. Conf. Robot. Autom., May 2009, Kobe, Japan, pp. 3111-3116.
S. Hernández, J. Torres, C. Morales, and L. Acosta, "A new low cost system for autonomous robot heading and position localization in a closed area, " Auton. Robots, vol. 15, no. 2, pp. 99-110, Sep. 2003.
H. Hu and D. Gu, "Landmark-based navigation of industrial mobile robots, " Int. J. Ind. Robot, vol. 27, no. 6, pp. 458-467, 2000.
G. Jang, S. Kim, J. Kim, and I. Kweon, "Metric localization using a single artificial landmark for indoor mobile robots, " in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Aug. 2005, pp. 3407-3412.
I. Kelly and A. Martinoli, "A scalable, on-board localisation and communication system for indoor multi-robot experiments, " Sens. Rev., vol. 24, no. 2, pp. 167-180, Jan. 2004.
A. Kemppainen, J. Haverinen, and J. Röning, "An infrared location system for relative pose estimation of robots, " in Proc. Symp. Robot Design, Dyn., Control, Jun. 2006, Warsaw, Poland, pp. 379-386.
C. Lee, Y. Chang, G. Park, J. Ryu, S.-G. Jeong, S. Park, J. Park, H. Lee, K.-S. Hong, and M. Lee, "Indoor positioning system based on incident angles of infrared emitters, " in Proc. IEEE Conf. Ind. Electron. Soc., Nov. 2004, vol. 3, Busan, Korea, pp. 2218-2222.
I. Loevsky and I. Shimshoni, "Reliable and efficient landmark-based localization for mobile robots, " Robot. Auton. Syst., vol. 58, no. 5, pp. 520-528, May 2010.
C. McGillem and T. Rappaport, "A beacon navigation method for autonomous vehicles, " IEEE Trans. Veh. Technol., vol. 38, no. 3, pp. 132-139, Aug. 1989.
K. Muthukrishnan, M. Lijding, and P. Havinga, "Towards smart surroundings: Enabling techniques and technologies for localization, " in Proc. Int. Workshop Location-and Context-Awareness, May 2005, Oberpfaf-fenhofen, Germany, pp. 350-362.
T. Nishizawa, A. Ohya, and S. Yuta, "An implementation of on-board position estimation for a mobile robot, " in Proc. IEEE Int. Conf. Robot. Autom., vol. 1, Nagoya, Japan, May. 1995, pp. 395-400.
A. Papoulis, Probability, Random Variables, and Stochastic Processes. New York, NY, USA: McGraw-Hill, Feb. 1991.
V. Pierlot and M. Van Droogenbroeck, "A simple and low cost angle measurement system for mobile robot positioning, " in Proc. Workshop Circuits, Syst. Signal Process., Nov. 2009, Veldhoven, The Netherlands, pp. 251-254.
V. Pierlot and M. Van Droogenbroeck, "Analysis of a robot positioning system based on a rotating receiver, beacons, and coded signals, " in Proc. Eur. Signal Process. Conf., Aug. 2011, Barcelona, Spain, pp. 1766-1770.
V. Pierlot and M. Van Droogenbroeck, "Statistical analysis of modulated codes for robot positioning-Application to BeAMS, " Univ. Liège, Liège, Belgium, Tech. Rep., May 2013.
V. Pierlot, M. Van Droogenbroeck, and M. Urbin-Choffray, "A new three object triangulation algorithm for mobile robot positioning, " IEEE Trans. Robotics, to be published.
K. Premi and C. Besant, "A review of various vehicle guidance techniques that canbeused by mobile robots or AGVs, " presented at the 2nd Int. Conf. Automated Guided Veh. Syst., Stuttgart, Germany, Jun. 1983.
J. Pugh, X. Raemy, C. Favre, R. Falconi, and A. Martinoli, "A fast onboard relative positioning module for multirobot systems, " IEEE/ASME Trans. Mechatronics, vol. 14, no. 2, pp. 151-162, Apr. 2009.
J. Roberts, T. Stirling, J.-C. Zufferey, and D. Floreano, "2.5D infrared range and bearing system for collective robotics, " in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., St. Louis, MO, USA, Oct. 2009, pp. 3659-3664.
I. Shimshoni, "On mobile robot localization from landmark bearings, " IEEE Trans. Robot. Autom., vol. 18, no. 6, pp. 971-976, Dec. 2002.
D. Sinriech and S. Shoval, "Landmark configuration for absolute positioning of autonomous vehicles, " IIE Trans., vol. 32, no. 7, pp. 613-624, Jul. 2000.
H. Sobreira, A. Moreira, and J. Esteves, "Low cost self-localization system with two beacons, " in Proc. Int. Conf. Mobile Robots Competit., Leiria, Portugal, Mar. 2010, pp. 73-77.
O. Tekdas and V. Isler, "Sensor placement for triangulation-based localization, " IEEE Trans. Autom. Sci. Eng., vol. 7, no. 3, pp. 681-685, Jul. 2010.
E. Zalama, S. Dominguez, J. Gómez, and J. Perán, "Microcontroller based system for 2D localisation, " Mechatronics, vol. 15, no. 9, pp. 1109-1126, Nov. 2005.