An Active Beacon-Based Tracking System To Be Used For Mobile Robot Convoying
S. Goll, E. Zakharova
Abstract:
The paper is focused on the mobile robot convoying along the path travelled by some leader carrying the active ultrasonic beacon. The robot is equipped with the three- dimensional receiver array in order to receive both the ultrasonic wave and the RF wave marking the beginning the of the measurement cycle. To increase measurement reliability each receiver contains two independent measurement channels with the automatic gain control. The distance measurements are preprocessed to remove identify the artifacts and either remove them or substitute with the interpolated value. To estimate the position of the beacon in the robot’s local coordinate system several methods are used including least squares method with the subsequent exponential smoothing, linear Kalman Filter, Rauch-Tung-Striebel smoother, Extended Kalman Filter, Unscented Kalman Filter and the Particle Filter. The experiments were made in order to estimate the estimation method preferable for the leader’s path following.
