MOBİL ROBOTLARIN BİNA İÇİ KOŞULLARDA ULAŞMA ZAMANI KULLANILARAK KABLOSUZ LOKALİZASYONU

Bu çalışma bina içi koşullarda çalışmak durumunda olan mobil robotların ulaşma zamanı tekniği kullanılarak kablosuz lokalizasyonu hakkındadır. Binanın içinde belli noktalarda konumlandırılmış referans noktaları vasıtası ile robotun bu noktalara olan mesafesinin ulaşma zamanı metodu ile tespiti ve buna bağlı olarak robotun konumunun tespiti (lokalizasyonu) hedeflenmektedir. Çalışmanın literatüre somut katkıları şu şekilde özetlenebilir. İlk olarak mobil robotun referans noktalarına göre hareketi sonucu değişen kanal koşullarına bağlı olarak değişken mesafe ölçüm hatalarının olduğu durumlarda iki farklı lokalizasyon algoritmasının (en küçük kareler ve ağırlıklı en küçük kareler) performansları karşılaştırmalı olarak analiz edilmiştir. İkinci olarak mesafe ölçümlerindeki hataları mesafe ölçümleri lokalizasyon algoritmaları tarafından kullanılmadan önce azaltmayı hedefleyen bir hata kestirim metodu önerilmiş, bahsedilen lokalizasyon algoritmalarının performansı bu metot ile beraber analiz edilmiştir. Elde edilen sonuçlar hata kestirim metodu ile beraber kullanıldığında her iki algoritmanın performansının sistem senaryolarına bağlı olarak %5-17 oranında iyileştirilebileceğini göstermektedir.

Anahtar Kelimeler:

Mobil robot, ulaşma zamanı

WIRELESS INDOOR LOCALIZATION OF MOBILE ROBOTS USING TIME OF ARRIVAL

This work focuses on wireless localization of a mobile robot operating inside a building using the time of arrival technique. The basic idea is to perform measurements of range (or distance) between the robot and reference points located at specific points inside the building by means of time of arrival measurements and using these measurements to estimate the location of the robot. The contributions of this work can be summarized as follows. First, the performance of two localization algorithms (namely least-squares and weighted least-squares) are compared in the presence of ranging errors that fluctuate as a result of mobile robot movement with respect to the reference points. Second, an error estimation method is proposed, the goal of which is to reduce the error in the range measurements prior to their use with localization algorithms. The performance of the aforementioned localization algorithms, working in conjunction with this error estimation method, are analysed. The results clearly indicate that the performance of both algorithms can be improved by approximately 5-17% depending on system scenarios.

Keywords:

Mobile robot, time of arrival,

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