Evaluation of an indoor localization system for a mobile robot

Although indoor localization has been a wide researched topic, obtained results may not fit the requirements that some domains need. Most approaches are not able to precisely localize a fast moving object even with a complex installation, which makes their implementation in the automated driving domain complicated. In this publication, common technologies were analyzed and a commercial product, called Marvelmind Indoor GPS, was chosen for our use case in which both ultrasound and radio frequency communications are used. The evaluation is given in a first moment on small indoor scenarios with static and moving objects. Further tests were done on wider areas, where the system is integrated within our Robotics Operating System (ROS)-based self-developed “Smart PhysIcal Demonstration and evaluation Robot (SPIDER)” and the results of these outdoor tests are compared with the obtained localization by the installed GPS on the robot. Finally, the next steps to improve the results in further developments are discussed.

[1]  Jaehyun Park,et al.  A Beacon Color Code Scheduling for the Localization of Multiple Robots , 2011, IEEE Transactions on Industrial Informatics.

[2]  Tughrul Arslan,et al.  Monte Carlo localization algorithm for indoor positioning using Bluetooth low energy devices , 2017, 2017 International Conference on Localization and GNSS (ICL-GNSS).

[3]  Bruno Bouchard,et al.  Real-Time Indoor Localization in Smart Homes Using Ultrasound Technology , 2016, PETRA.

[4]  T. Sanpechuda,et al.  A review of RFID localization: Applications and techniques , 2008, 2008 5th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology.

[5]  Peter Korondi,et al.  Aesthetic marker decoding system for indoor robot navigation , 2014, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society.

[6]  Luca Mainetti,et al.  A survey on indoor positioning systems , 2014, 2014 22nd International Conference on Software, Telecommunications and Computer Networks (SoftCOM).

[7]  MilanésVicente,et al.  Autonomous vehicle based in cooperative gps and inertial systems , 2008 .

[8]  Jia Li,et al.  WiFi based indoor localization with adaptive motion model using smartphone motion sensors , 2014, 2014 International Conference on Connected Vehicles and Expo (ICCVE).

[9]  Ray-Shine Run,et al.  Indoor Autonomous Vehicle Navigation—A Feasibility Study Based on Infrared Technology , 2018 .

[10]  Manfred Wieser,et al.  Indoor position determination using location fingerprinting and vehicle sensor data , 2016, 2016 European Navigation Conference (ENC).

[11]  Leh Luoh,et al.  ZigBee-based intelligent indoor positioning system soft computing , 2014, Soft Comput..

[12]  Girma S. Tewolde,et al.  Tour guide robot using wireless based localization , 2013, IEEE International Conference on Electro-Information Technology , EIT 2013.

[13]  Shih-Hau Fang,et al.  An Enhanced ZigBee Indoor Positioning System With an Ensemble Approach , 2012, IEEE Communications Letters.

[14]  Hyo-Sung Ahn,et al.  Wireless Localization Networks for Indoor Service Robots , 2008, 2008 IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications.

[15]  Vicente Milanés Montero,et al.  Autonomous vehicle based in cooperative GPS and inertial systems , 2008, Robotica.

[16]  M. F. M. Campos,et al.  Mobile Robot Localization in Indoor Environments Using Multiple Wireless Technologies , 2012, 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium.

[17]  Dan Gazebo Sebagai,et al.  Robot Operating System (ROS) , 2020, Studies in Computational Intelligence.

[18]  Bing-Fei Wu,et al.  GPS navigation based autonomous driving system design for intelligent vehicles , 2007, 2007 IEEE International Conference on Systems, Man and Cybernetics.

[19]  Anis Koubaa.  Robot Operating System (ROS): The Complete Reference (Volume 1) , 2016 .

[20]  Jaehyun Park,et al.  Beacon scheduling for efficient localization of a mobile robot , 2011, 2011 IEEE International Symposium on Industrial Electronics.