A dynamic localization algorithm for a high-speed mobile robot using indoor GPS

摘要

SUMMARY This paper proposes a dynamic localization algorithm for a variable speed mobile robot. In order to localize a mobile robot with active beacon sensors, a relatively long time is needed, since the distance to the beacon is measured using the time-of-flight of the ultrasonic signal. The measurement time does not cause a high error rate when the mobile robot moves slowly. However, with an increase of the mobile robot's speed, the localization error becomes too high to use for accurate mobile robot navigation. Therefore, in this research into high-speed mobile robot operations, instead of using two active beacons for localization, an active beacon and the predicted path are utilized to localize the mobile robot. This new approach resolves the high-localization error caused by the speed of mobile robot. The performance of this method was verified by comparing it to the conventional method through real-world experiments.