In this paper, we propose a method of mobile robot localization based on chirp-spread-spectrum (CSS) ranging. By using the CSS system, the distances between a mobile robot and CSS nodes fixed at known coordinates can be measured according to the time of flight of radio frequency signals. Based on the measured distances, the coordinates of a mobile robot can be calculated by the method of trilateration. To deal with measurement noise, an extended Kalman filter (EKF) can be applied to estimate the coordinate of the mobile robot. These measured distances, however, are not only noisy but also biased. Therefore, the estimated coordinates of the mobile robot represent inconsistent values. To solve the problem of bias, we define a scaling factor, which corresponds to the change of the magnitude of a measured distance vector that is due to biases. Based on the scaling factor, we develop a new biased measurement model and apply the EKF to our model for estimating the coordinates of a mobile robot. Through localization experiments, we evaluate the performance of the proposed algorithm.

Mobile Robot Localization Using Biased Chirp-Spread-Spectrum Ranging

An effective Kalman filter localization method for mobile robots is investigated in terms of the robust Kalman filter with perturbation estimator. In the recursive algorithm, the perturbation estimator produces equivalent perturbations with respect to the nominal state equation and the action model of a mobile robot is adaptively modified with the perturbation estimates. The integral control property of the perturbation estimator enables a great reduction of the localization error, specifically when the odometric disturbance is large. The Kalman filter recursive equations including predictor, corrector, perturbation estimator, and the corresponding covariance propagation equations are formulated systematically. The effectiveness of the proposed scheme is verified through simulation and experimental results for a wheeled mobile robot.

An Effective Kalman Filter Localization Method for Mobile Robots

This paper evaluates the performance of a semidistributed multinode time-of-arrival (TOA) and direction-of-arrival (DOA) fusion localization technique in terms of localization circular error probability (CEP). The localization technique is applicable in mobile ad hoc networks (MANETs) when global positioning system (GPS) is not available (GPS denied environments). The localization CEP of the technique is derived theoretically and verified via simulations. In addition, we theoretically derive the localization CEP of GPS-aided TOA fusion and GPS-aided DOA fusion techniques, which are also applicable in MANETs. Finally, we compare these three localization techniques theoretically and via simulations. The comparison confirms that in moderate scale MANETs, the multinode TOA-DOA fusion localization technique achieves the best performance; while in large scale MANETs, GPS-aided TOA fusion leads to the best performance.

/pdf/comparison-of-semidistributed-multinode-toa-doa-fusion-20r0203no9.pdf

Comparison of Semidistributed Multinode TOA-DOA Fusion Localization and GPS-Aided TOA (DOA) Fusion Localization for MANETs

ResearchArticle Comparison of Semidistributed Multinode TOA-DOA Fusion Localization and GPS-Aided TOA (DOA) Fusion Localization for MANETs

In this paper, we studied an autonomous vehicle driving system at an intersection equipped with traffic lights. We proposed deep learning based traffic light recognition algorithm, crossing/stop decision algorithm, path generation, and path following method. In addition, we implemented the proposed systems into a real vehicle environment. The main contribution of this paper is a crossing/stop decision algorithm to determine whether a test vehicle will pass through an intersection or stop in accordance with the recognized traffic light condition. This algorithm was designed based on vehicle speed and the distance between the position of the stop line and the vehicle. Ioniq PHEV, a vehicle equipped with sensors for autonomous driving, was used in order to evaluate the performance of the proposed system. The test vehicle drove through the intersection at the proving ground located in Ochang Campus, Chungbuk National University. The experimental results showed that the test vehicle successfully passed through the intersection in accordance with the traffic light status with a maximum speed of 30 kph on a straight course and a maximum speed of 10 kph on a 90° corner course.

Implementation of Autonomous Driving System in the Intersection Area Equipped with Traffic Lights

The positioning problem of mobile robot is an important part of control problem for mobile robot. Dead Reckoning is widely used for positioning of mobile robot. However this method has problems because it accumulates estimation errors. In this paper, we propose a new method to increase the accuracy of estimated position using the U-SAT (Ultrasonic Satellite system). U-SAT is composed of a distance measurement using ultrasonic wave and the position acquisition in the world coordinate using the GPS. It is shown that we will be able to estimate the position of mobile robot precisely, in which errors are not accumulated. The experimental results show that the proposed method is enable to estimate the position of the mobile robot.

http://ieeexplore.ieee.org/iel5/9792/30877/01433352.pdf

Ultrasonic satellite system for the positioning of mobile robots

In order for a vehicle to follow a predetermined trajectory accurately, its position must be estimated accurately and reliably. In this thesis, we propose trajectory tracking control methods for unmanned vehicle and a positioning system using ultrasonic wave. The positioning problem is an important part of control problem for unmanned navigation of a vehicle. Dead Reckoning is widely used for positioning of vehicle. However this method has problems because it accumulates estimation errors. We propose a new method to increase the accuracy of position estimation using the Ultrasonic Satellite System (USAT). It is shown that we will be able to estimate the position of vehicle precisely, in which errors are not accumulated. And proposed trajectory tracking control methods include both a new path planning method and a lateral control method for vehicle. The experimental results show that the proposed methods enables exact vehicle trajectory tracking even under various environmental factors.

Unmanned Navigation of Vehicle Using the Ultrasonic Satellite System

Emergence of new technologies in relation to a navigation of a vessel, from manned to unmanned status, will bring about fundamental changes to the traditional legal paradigm, which was established based on the presumption of human existence on board of a vessel. Similar changes are witnessed regarding motor vehicles and aircraft, but the unique nature of maritime affairs requires an independent analysis. This paper takes a particular interest in AI and cyber security in MASS and how the new technologies will likely be impacting the liability and marine insurance regime under the UK legal system. After a brief analysis of how UK laws and courts look at autonomous motor vehicles and aircrafts as a comparison, the introduction for Automated and Electric Vehicles Act 2018, a new legislation to regulate the UK motor insurance for automated vehicles, will follow. Liability issues in relation to AI under the UK legal system is addressed based on the analysis of the legal status of AI, with suggestions to bridge the gaps during the transitional period of this paradigm shift. Finally, as marine insurance is often times the name of the game in maritime affairs and marine casualties, the interpretation of current marine insurance law to be applicable to AI and cyber security is suggested. In short, the purpose of this paper was to comprehensively address the areas where the new technology would potentially have an impact on the MASS and what the issues would likely be from the UK legal perspective. 

Liability and Insurance in Maritime Autonomous Surface Ship (MASS) under the UK Legal System - The impact of new technologies and the interpretation thereof -

Development of Demand Risk Allocation Models for the Public-Private Partnership Projects Applying Game Theory Simulations

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Papers

Ultrasonic satellite system for the positioning of mobile robots

Unmanned Navigation of Vehicle Using the Ultrasonic Satellite System

Liability and Insurance in Maritime Autonomous Surface Ship (MASS) under the UK Legal System - The impact of new technologies and the interpretation thereof -

Development of Demand Risk Allocation Models for the Public-Private Partnership Projects Applying Game Theory Simulations