Indoor mobile robot and pedestrian localization techniques

摘要

This paper presents indoor localization techniques for mobile robot and pedestrian navigation. Two different methods are examined and the performance and superiority of each method are discussed. A dead reckoning method is established for the mobile robot navigation and a wireless localization network is used for the pedestrian navigation. The purpose of the dead reckoning system is to integrate three internally-mounted sensors such as accelerometer, odometer, and heading angle sensor for positioning the mobile robot without depending on any external reference information. However, in the case of pedestrian, it is difficult to install inertia sensors to the human body. So, for the pedestrian navigation, we use a wireless sensor network. The key issue in wireless localization network is that the measurement of wireless sensor network contains lots of noises whose noise characteristics are time-varying. In this paper, we propose a simple algorithm that can reduce the noise effect without using any noise characteristics.