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    Coverage mapping method for Mobile Robot positioning in Intelligent Spaces based on a Hardware Mode

    TítuloCoverage mapping method for Mobile Robot positioning in Intelligent Spaces based on a Hardware Mode
    Tipo de publicaciónJournal Article
    Año de publicación2010
    AutoresMartín Gorostiza, E, Meca, FJ, Lazaro, JL, Martos, E, Naranjo, F, Esteban, O
    Idioma de publicaciónEnglish
    Revista académicaIEEE Transactions on Instrumentation and Measurement
    Volumen59
    Número2
    Páginas266-282
    Fecha de publicación01/2010
    EditorialIEEE Instrumentation and Measurement Society
    Rank in category17/56
    JCR CategoryInstruments & Instrumentation
    JCR Impact Factor5.468
    ISSN0018-9456
    URLhttp://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5208299
    DOI10.1109/TIM.2009.2023146
    Resumen

    In this paper, we describe a method for relating the precision in phase shift measurements to the navigation areas in which that precision is reached so that a coverage map is built, setting a signal-to-noise ratio (SNR) threshold level that depends on that phase precision. The method brings a novel approach to linking different areas in robotics and is applied to a mobile-robot (MR) local positioning system (LPS) in an intelligent space, where distances are computed from differential phase shift measurements with intensity modulation and direct detection (IMDD) infrared signals. A global model including the parameters of all the parts involved, e.g., optoelectronics, wireless channel, and instrumentation hardware, is developed. Furthermore, based on the model, an analytical expression deduced for the phase shift measurement is used to find the necessary SNR for a desired precision. A complete set of results, applying the coverage cells to a real building covering a path followed by an MR, is shown. The position of the MR can be known, with an accuracy value below 5 cm and tested in a basic rectangular locating cell with dimensions 3.0 m × 2.5 m.

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