Design and implementation of a self-guided indoor robot based on a two-tier localization architecture

Authors:
Lun-Wu Yeh;Ming-Hsiu Hsu;Hong-Ying Huang;Yu-Chee Tseng
Affiliations:
Department of Computer Science, National Chiao Tung University, Hsin-Chu, 300, Taiwan;Department of Computer Science, National Chiao Tung University, Hsin-Chu, 300, Taiwan;Department of Computer Science, National Chiao Tung University, Hsin-Chu, 300, Taiwan;Department of Computer Science, National Chiao Tung University, Hsin-Chu, 300, Taiwan and Research Center for Information Technology Innovation, Academia Sinica, Taipei, 115, Taiwan
Venue:
Pervasive and Mobile Computing
Year:
2012

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Abstract

We consider building an indoor low-cost mobile robot that can be used in home applications. Due to the complicated nature of home environments, it is essential for such a robot to be self-guided in the sense that it is able to determine its current location as well as navigate to locations where it is commanded to. We propose a two-tier architecture to achieve this goal at centimeter-to-meter-level accuracy. The robot can even roam into an area which is new to it. We demonstrate a prototyping system based on an extended iRobot and the results have important implications on intelligent homes.