Mobile Robot Indoor Localization Using Color-Coded Beacons and a Depth Camera

Mawj MOHAMMED BASHEER; Mehmet ÇAVAŞ; Mohammed QASIM

doi:https://doi.org/10.55525/tjst.1054213

Makale detayları

Mobile Robot Indoor Localization Using Color-Coded Beacons and a Depth Camera

Yazarlar:

Mawj MOHAMMED BASHEER | Mehmet ÇAVAŞ | Mohammed QASIM

Yayıncı:

Fırat University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Turkish Journal of Science and Technology 2022 Vol.17 Issue 1, pp.37-46

Belge Tipi:

Makale

Yayın Tarihi:

3/2022

Belge Dili:

İngilizce

Document ID (Org No.):

2000639092

Sıklık:

Aylık

eISSN:

1308-9099

pISSN:

1308-9080

DOI:

https://doi.org/10.55525/tjst.1054213

Özet:

 

This paper aims to design and implement an indoor localization method for mobile robots based on trilateration technique, Color Code signatures (CCs) as artificial passive beacons, and a depth camera. The artificial passive beacons are designed as three disks positioned one on top of the other’s with different sizes and colors (primary colors only, RGB). The three disks share the same center. The designed beacons are placed on the ceiling to be visible from most locations within the room. The robot's model, controller, and localization method are implemented and evaluated inside the CoppeliaSim environment. The simulation results show that the CCs detecting algorithm enables the robot to discover the designed beacons, achieve an accurate localization and reach the target.

Makale detayları

Mobile Robot Indoor Localization Using Color-Coded Beacons and a Depth Camera

Yazarlar: Mawj MOHAMMED BASHEER | Mehmet ÇAVAŞ | Mohammed QASIM

Yayıncı: Fırat University

Ana Başlıklar: Uygulamalı fizik

Dergi: Turkish Journal of Science and Technology 2022 Vol.17 Issue 1, pp.37-46

Belge Tipi: Makale

Yayın Tarihi: 3/2022

Belge Dili: İngilizce

Document ID (Org No.): 2000639092

Sıklık: Aylık

eISSN: 1308-9099

pISSN: 1308-9080

DOI: https://doi.org/10.55525/tjst.1054213

Sayı

Yazarlar:

Mawj MOHAMMED BASHEER | Mehmet ÇAVAŞ | Mohammed QASIM

Yayıncı:

Fırat University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Turkish Journal of Science and Technology 2022 Vol.17 Issue 1, pp.37-46

Belge Tipi:

Makale

Yayın Tarihi:

3/2022

Belge Dili:

İngilizce

Document ID (Org No.):

2000639092

Sıklık:

Aylık

eISSN:

1308-9099

pISSN:

1308-9080

DOI:

https://doi.org/10.55525/tjst.1054213