Experimental Validation of a Localization System Based on a Heterogeneous Sensor Network
2009 (English)In: ASCC: 2009 7TH ASIAN CONTROL CONFERENCE, NEW YORK: IEEE , 2009, 465-470 p.Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
NEW YORK: IEEE , 2009. 465-470 p.
IdentifiersURN: urn:nbn:se:kth:diva-26518ISI: 000274323100081ScopusID: 2-s2.0-71449118129ISBN: 978-1-4244-5440-2OAI: oai:DiVA.org:kth-26518DiVA: diva2:387455
7th Asian Control Conference (ASCC 2009) Hong Kong, PEOPLES R CHINA, AUG 27-29, 2009
QC 201101142011-01-142010-11-252012-02-02Bibliographically approved