论文标题
移动机器人的室内定位系统的评估
Evaluation of an indoor localization system for a mobile robot
论文作者
论文摘要
尽管室内本地化是一个广泛的研究主题，但获得的结果可能不符合某些领域所需的要求。即使使用复杂的安装，大多数方法也无法精确地本地化一个快速移动的对象，这使其在自动驾驶域中的实现变得复杂。在此出版物中，分析了通用技术，并为我们使用超声和射频通信的用例选择了一种称为Marvelmind Indore GPS的商业产品。评估是在带有静态和移动对象的小型室内场景上进行的。在我们的机器人操作系统（ROS）基于自发的“智能物理演示和评估机器人（Spider）”中集成了该系统的更广泛区域进行了进一步的测试，并将这些室外测试的结果与机器人上安装的GPS所获得的本地化进行了比较。最后，讨论了改善进一步发展结果的下一步。
Although indoor localization has been a wide researched topic, obtained results may not fit the requirements that some domains need. Most approaches are not able to precisely localize a fast moving object even with a complex installation, which makes their implementation in the automated driving domain complicated. In this publication, common technologies were analyzed and a commercial product, called Marvelmind Indoor GPS, was chosen for our use case in which both ultrasound and radio frequency communications are used. The evaluation is given in a first moment on small indoor scenarios with static and moving objects. Further tests were done on wider areas, where the system is integrated within our Robotics Operating System (ROS)-based self-developed 'Smart PhysIcal Demonstration and evaluation Robot (SPIDER)' and the results of these outdoor tests are compared with the obtained localization by the installed GPS on the robot. Finally, the next steps to improve the results in further developments are discussed.
