TAILIEUCHUNG - EKF- based localization of a mobile robot using pattern matching

This paper studied a localization problem for a mobile robot, based on chirp spread spectrum (CSS) indoor localization. This problem in localization is caused by the multi-path effect. The multi-path effect error is difficult to correct because the environment cannot be predicted. | Journal of Automation and Control Engineering, Vol. 1, No. 1, March 2013 EKF-based Localization of a Mobile Robot using Pattern Matching Seokyong Kim and Jihong Lee Chungnam National University, Mechatronics Engineering, Daejeon, KOR E-mail: {seokyoung, ijhong}@ Abstract—This paper studied a localization problem for a mobile robot, based on chirp spread spectrum (CSS) indoor localization. This problem in localization is caused by the multi-path effect. The multi-path effect error is difficult to correct because the environment cannot be predicted. To solve the multi-path effect error problem, this paper proposes a pattern matching method. The pattern matching method estimates position by using the fact that data measured for nearby positions is highly similar. To gain high localization accuracy we used the extended Kalman filter (EKF) to fuse the results of localization using pattern matching and dead reckoning. has problems that cause errors in measured distance data. Equation 1 is an equation of CSS [8, 9]. ω S (t) R [exp[j(ω BW t)t θ ] [u(t) u(t T )] (1) C e S 0 C 2T C TABLE I. Technology RFID Advantage -Ratio of recognition is excellent -Low cost of a passive tag WLAN Index Terms—localization, mobile robot, CSS, indoor, multi-path, pattern matching, EKF IR -An existing installation of stations -Already solution existed -Host mobile computer is unnecessary UWB -Low power -Wide coverage area I. INTRODUCTION -Within accuracy Localization studies can be divided into outdoor localization and indoor localization. In outdoor localization, GPS is often used, but GPS cannot be used for indoor localization, as the robot usually cannot communicate with satellites. For this reason, many new studies of indoor localization are in progress, but so far, there is no obvious solution for indoor localization. The following table shows some typical approaches: This paper proposes a CSS-based indoor localization system. It can be used in a .

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