TY - JOUR
T1 - Design and performance evaluation of wiimote-based two-dimensional indoor localization systems for indoor mobile robot control
AU - Gu, D.
AU - Chen, K. S.
N1 - Funding Information:
This work is supported by National Science Council of Taiwan under contract number NSC97-2221-E-006-152-MY3. The authors also like to acknowledge Dr. K-S OU, Mr. M. H. Chen, Mr. Y. T. Fu, and Mr. C-H Pi for their collaborations during the stage of the concept development.
Publisher Copyright:
© 2015 Elsevier Ltd. All rights reserved.
PY - 2015/4
Y1 - 2015/4
N2 - Indoor localization of mobile units is critical for subsequent task development of intelligent living technology. In this work, a modified wiimote-based 2D localization scheme is proposed and experimentally validated for indoor mobile robot tracking and control tasks. This scheme uses one wiimote to monitor the position of at least two IR LEDs simultaneously for determining both translation and rotation motions of the wiimote-mounted carrier. An algorithm is then developed for converting the wiimote readouts to the position and orientation of the corresponding mobile unit based on the major axes identification, coordinate transformation, and position updating. The scheme and the algorithm are then validated by tracking the wiimote location on a two-axis linear servomotor. Finally, by integrating this global positioning scheme with feedback control, trajectory tracking of an omni-wheel based mobile robot is performed to demonstrate the importance of the scheme in indoor smart living technology.
AB - Indoor localization of mobile units is critical for subsequent task development of intelligent living technology. In this work, a modified wiimote-based 2D localization scheme is proposed and experimentally validated for indoor mobile robot tracking and control tasks. This scheme uses one wiimote to monitor the position of at least two IR LEDs simultaneously for determining both translation and rotation motions of the wiimote-mounted carrier. An algorithm is then developed for converting the wiimote readouts to the position and orientation of the corresponding mobile unit based on the major axes identification, coordinate transformation, and position updating. The scheme and the algorithm are then validated by tracking the wiimote location on a two-axis linear servomotor. Finally, by integrating this global positioning scheme with feedback control, trajectory tracking of an omni-wheel based mobile robot is performed to demonstrate the importance of the scheme in indoor smart living technology.
UR - https://www.scopus.com/pages/publications/84923247076
UR - https://www.scopus.com/pages/publications/84923247076#tab=citedBy
U2 - 10.1016/j.measurement.2015.01.009
DO - 10.1016/j.measurement.2015.01.009
M3 - Article
AN - SCOPUS:84923247076
SN - 0263-2241
VL - 66
SP - 95
EP - 108
JO - Measurement: Journal of the International Measurement Confederation
JF - Measurement: Journal of the International Measurement Confederation
ER -