By Topic

Experimental validation of a localization system based on a heterogeneous sensor network

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Jose Araujo ; ACCESS Linnaeus Centre, School of Electrical Engineering, Royal Institute of Technology, 100 44 Stockholm, Sweden ; Henrik Sandberg ; Karl Henrik Johansson

The experimental implementation and validation of a localization system based on a heterogeneous sensor network is described. The sensor network consists of ultrasound ranging sensors and Web cameras. They are used to localize a mobile robot under sensor communication constraints. Applying a recently proposed sensor fusion algorithm that explicitly takes communication delay and cost into account, it is shown that one can accurately trade off the estimation performance by using low quality ultrasound sensors with low processing time and low communication cost versus the use of the high-quality cameras with longer processing time and higher communication cost. It is shown that a periodic schedule of the sensors is suitable in many cases. The experimental setup is discussed in detail and experimental results are presented.

Published in:

Asian Control Conference, 2009. ASCC 2009. 7th

Date of Conference:

27-29 Aug. 2009