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Design and Analysis of a Localization Method Using a Laser Sensor for Indoor Wheeled Mobile Robots

[+] Author Affiliations
Madhu Soodhanan Govindarajan, Junmin Wang

The Ohio State University, Columbus, OH

Bill Post, Andrew Fox

Honda R&D Americas, Inc., Raymond, OH

Paper No. DSCC2011-5918, pp. 57-64; 8 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5476-1
  • Copyright © 2011 by ASME


A new approach to localize an indoor wheeled mobile robot (WMR) using a low-cost laser sensor is proposed. An onboard laser sensor moving inside a guide way is used to recognize the unique pattern of a target, by virtue of which the vehicle is localized globally. A kinematic model is developed, which determines the vehicle orientation and location with respect to the center of the target object. Here, the design parameters of the target and guide way lengths are analyzed in terms of their influence on the localization accuracy in the presence of noise in measurements. The kinematic model and the design parameter analysis are validated by the simulation results.

Copyright © 2011 by ASME



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