Abstract
This paper presents a real-time, low-computation trilateration model, designed for teams of cooperating mobile robots, working in unknown in-door environments without GPS signal accessibility. It allows to analytically build precision maps of the working area, giving information for the potential localization errors in each point of the space around the robots and thus simplifying movement planning and tracking. The technique relies on Time-Of-Flight measurements between several members of the team, used as static beacons, and the rest of the robots currently in motion. Simple parameter analysis is proposed for choosing the best suited robots to act as beacons for a given task. The performances of the mathematical and the statistical models have been validated numerically by computer simulations.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Dhillon, B.S.: Robot Reliability and Safety. Springer, New York (1991)
Borenstein, J., Everett, H.R., Feng, L., Wehe, D.: Mobile Robot Positioning: Sensors and Techniques. Invited paper for the Journal of Robotic Systems, Special Issue on Mobile Robots 14(4), 231–249
Brown, R.G., Hwang, P.Y.C.: Introduction to Random Signals And Applied Kalman Filtering, 2nd edn. John Wiley & Sons, Chichester (1992)
Kim, J., Jee, G., Lee, J.: A complete GPS/INS integration technique using GPS carrier phase measurements. In: IEEE Position Location and Navigation Symposium 1998, April 20-23, 1998, pp. 526–533 (1998)
Ohno, K., Tsubouchi, T., Shigematsu, B., Yuta, S.: Differential GPS and odometry-based outdoor navigation of a mobile robot. Advanced Robotics 18(6), 611–635
Parker, L.E.: Current state of the art in distributed autonomous mobile robotics. In: Parker, L.E., Bekey, G., Barhen, J. (eds.) Distributed Autonomous Robotic Systems, vol. 4, pp. 3–12. Springer, Tokio (2000)
Cao, Y.U., Fukunaga, A.S., Kahng, A.B.: Cooperative Mobile Robotics: Antecedents and Directions. Autonomous Robots 4, 1–23 (1997)
Hayes, A.T., Martinoli, A., Goodman, R.M.: Distributed Odor Source Localisation, Special Issue on Artificial Olfaction. In: Nagle, H.T., Gardner, J.W., Persaud, K. (eds.) IEEE Sensors Journal, vol. 2 (3), pp. 260–271 (2002)
Rekleitis, I.M., Dudek, G., Milios, E.E.: Multi-robot collaboration for robust exploration. In: Proceedings of the 2000 IEEE International Conference on Robotics and Automation, ICRA 2000, vol. 4, pp. 3164–3169 (2000)
Spletzer, J., Das, A.K., Fierro, R., Taylor, C.J., Kumar, V., Ostrowski, J.P.: Cooperative Localization and Control for Multi-Robot Manipulation. In: Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems 2001, vol. 2, pp. 631–636 (2001)
Tinós, R.: Navarro-Serment and Christiaan J.J. Paredis, Fault Tolerant Localization for Teams of Distributed Robots. In: Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, Hawaii, USA, October 29 - November 03 (2001)
Bisson, J., Michaud, F., Letourneau, D.: Relative positioning of mobile robots using ultrasounds. In: Proceedings on 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003 (IROS 2003), October 27-31, 2003, vol. 2, pp. 1783–1788 (2003)
Roumeliotis, S.I., Rekleitis, I.: Analysis of multirobot localization uncertainty propagation. In: Proc. IEEE Int. Workshop on Intelligent Robots and Systems, Las Vegas, NV, USA, pp. 1763–1770 (2003)
Oliver, J.: Woodman, An introduction to inertial navigation, Technical report UCAM-CL-TR-696 (ISSN 1476-2986), University of Cambridge, Computer Laboratory (August 2007)
Manolakis, D.E.: Efficient solution and performance analysis of 3-D position estimation by trilateration. IEEE Transactions on Aerospace and Electronic Systems 32(4), 1239–1248 (1996)
Grabowski, R., Khosla, P.: Localization techniques for a team of small robots. In: Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1067–1072 (2001)
Manolakis, D.E., Cox, M.E.: Effect in range difference position estimation due to stations position errors. IEEE Transactions on Aerospace and Electronic Systems 34(1), 329–334 (1998)
Thomas, F., Ros, L.: Revisiting Trilateration for Robot Localization. IEEE Transactions on Robotics 21(1), 93–101 (2005)
Stella, E., Lovergine, F.P., Caponetti, L., Distante, A.: Mobile robot navigation using vision and odometry. In: Proceedings of the Intelligent Vehicles 1994 Symposium, 24-26 October 1994, pp. 417–422 (1994)
Cheng, X., Thaeler, A., Xue, G., Chen, D.: TPS: A time-based positioning scheme for outdoor wireless sensor networks. In: INFOCOM 2004. Twenty-third Annual Joint Conference of the IEEE Computer and Communications Societies, 7-11 March 2004, vol. 4, pp. 2685–2696 (2004)
Foy, W.H.: Position-Location Solutions by Taylor-Series Estimation. IEEE Transactions on Aerospace and Electronic Systems 12(2), 187–194 (1976)
Pages-Zamora, A., Vidal, J.: Evaluation of the improvement in the position estimate accuracy of UMTS mobiles with hybrid positioning techniques. In: 55th IEEE Vehicular Technology Conference 2002, vol. 4, pp. 1631–1635 (2002)
Arras, K.O.: An introduction to error propagation: derivation, meaning and examples, Technical Report Nº EPFL-ASL-TR-98-01 R3 of the Autonomous Systems Lab, Institute of Robotic Systems, Swiss Federal Institute of Technology Lausanne (EPFL) (September 1998)
Genchev, S., Venkov, P.: Hybrid System for Localization of Robots Moving in Group. In: Proceedings of the International Conference on Automatics and Informatics 2007, VI International Symposium Robotics Systems, Sofia, Bulgaria, 3-6 October 2007, vol. 2, pp. 653–657 (2007) ISSN: 1313 – 1850
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Genchev, S., Venkov, P., Vidolov, B. (2008). Trilateration Analysis for Movement Planning in a Group of Mobile Robots. In: Dochev, D., Pistore, M., Traverso, P. (eds) Artificial Intelligence: Methodology, Systems, and Applications. AIMSA 2008. Lecture Notes in Computer Science(), vol 5253. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-85776-1_30
Download citation
DOI: https://doi.org/10.1007/978-3-540-85776-1_30
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-85775-4
Online ISBN: 978-3-540-85776-1
eBook Packages: Computer ScienceComputer Science (R0)