期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2011
卷号：8
期号：4
页码：52
DOI：10.5772/45698
语种：English
出版社：SAGE Publications
摘要：In this paper, we propose a robust and real-time localization method for dynamic environments based on a sensor network; the method combines landmark image information obtained from an ordinary camera and distance information obtained from sensor nodes in an indoor environment. The sensor network provides an effective method for a mobile robot to adapt to changes and guides it across a geographical network area. To enhance the performance, we used a charge-coupled device (CCD) camera and artificial landmarks for self-localization. Experimental results showed that global localization can be achieved with high robustness and accuracy using the proposed localization method.
关键词：Artificial landmark; mobile robot; localization; sensor network; TDOA
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