scholarly journals A Multi-Robot Formation Platform based on an Indoor Global Positioning System

2019 ◽  
Vol 9 (6) ◽  
pp. 1165
Author(s):  
Hong’an Yang ◽  
Xuefeng Bao ◽  
Shaohua Zhang ◽  
Xu Wang
Keyword(s):  
Mobile Robot ◽  
Global Positioning System ◽  
Formation Control ◽  
Transmission Control Protocol ◽  
Indoor Navigation ◽  
Wheeled Mobile Robot ◽  
Positioning System ◽  
Position Information ◽  
Global Positioning ◽  
Multi Robot

Aimed at the problem that experimental verifications are difficult to execute due to lacking effective experimental platforms in the research field of multi-robot formation, we design a simple multi-robot formation platform. This proposed general and low-cost multi-robot formation platform includes the indoor global-positioning system, the multi-robot communication system, and the wheeled mobile robot hardware. For each wheeled mobile robot in our platform, its real-time position information in the centimeter‑level precise is obtained by the Marvelmind Indoor Navigation System and orientation information is obtained by the six-degree-of-freedom gyroscope. The Transmission Control Protocol/Internet Protocol (TCP/IP) wireless communication infrastructure is selected to support the communication among robots and the data collection in the process of experiments. Finally, a set of leader–follower formation experiments are performed by our platform, which include three trajectory tracking experiments of different types and numbers under deterministic environment and a formation-maintaining experiment with external disturbances. The results illustrate that our multi-robot formation platform can be effectively used as a general testbed to evaluate and verify the feasibility and correctness of the theoretical methods in the multi-robot formation. What is more, the proposed simple and general formation platform is beneficial to the development of platforms in the fields of multi-robot coordination, formation control, and search and rescue missions.

scholarly journals Uji Presisi dari Nonholonomic Mobile Robot pada Rancang Bangun Sistem Navigasi

2021 ◽  
Vol 1 (1) ◽  
Author(s):  
Desmas A. Patriawan ◽  
Bagoes P. Natakusuma ◽  
Ahmad Anas Arifin ◽  
Hasan S. Maulana ◽  
Hery Irawan ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Global Positioning System ◽  
Measurement Unit ◽  
Positioning System ◽  
Nonholonomic Mobile Robot ◽  
Global Positioning

Navigasi menjadi bagian yang penting bagi kendaraan. Global positioning system (GPS) merupakan sistem navigasi yang paling banyak digunakan pada kendaraan. Namun dengan akurasi 5-10 meter membuat GPS tidak bisa diaplikasikan dalam bagian sistem kendali pada kendaraan. Penambahan sensor inertia measurement unit (IMU) diharapkan mampu menambahkan akurasi pada Gerakan kendaraan. Kendaran yang digunakan adalah robot beroda dengan sistem nonholonomic. Pada robot ini dipasang Sensor IMU, GPS dan kontroler supaya robot tersebut bisa berputar lalu melaju secara lurus dengan kordinat yang sudah ditentukan. Hasil pengujian didapatkan robot memiliki respon time sebesar 4.1 detik tanpa kontroler dan 2.1 detik dengan kontroler. Akurasi sudut dari 5  menjadi 2 .

scholarly journals A Sensor Fusion Based Nonholonomic Wheeled Mobile Robot for Tracking Control

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7055
Author(s):  
Shun-Hung Tsai ◽  
Li-Hsiang Kao ◽  
Hung-Yi Lin ◽  
Ta-Chun Lin ◽  
Yu-Lin Song ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Design Procedure ◽  
Wheeled Mobile Robot ◽  
Measurement Unit ◽  
Micro Electro Mechanical Systems ◽  
Position Information ◽  
Detail Design ◽  
Dynamic Tracking ◽  
Global Positioning ◽  
Gimbal Lock

In this paper, a detail design procedure of the real-time trajectory tracking for the nonholonomic wheeled mobile robot (NWMR) is proposed. A 9-axis micro electro-mechanical systems (MEMS) inertial measurement unit (IMU) sensor is used to measure the posture of the NWMR, the position information of NWMR and the hand-held device are acquired by global positioning system (GPS) and then transmit via radio frequency (RF) module. In addition, in order to avoid the gimbal lock produced by the posture computation from Euler angles, the quaternion is utilized to compute the posture of the NWMR. Furthermore, the Kalman filter is used to filter out the readout noise of the GPS and calculate the position of NWMR and then track the object. The simulation results show the posture error between the NWMR and the hand-held device can converge to zero after 3.928 seconds for the dynamic tracking. Lastly, the experimental results show the validation and feasibility of the proposed results.

scholarly journals AUTOWAGON

2013 ◽  
pp. 64-67
Author(s):  
ROHIT KESHARWANI ◽  
JASPREET KAUR KHALSA
Keyword(s):  
Global Positioning System ◽  
Tracking System ◽  
Base Station ◽  
Vehicle Tracking ◽  
Positioning System ◽  
Position Information ◽  
Vehicle Monitoring ◽  
Security Applications ◽  
Global Positioning ◽  
Gps Antenna

This paper deals with research and development of Vehicle Monitoring and Security System which is GPS based vehicle tracking system used for security applications. It uses two main underlying concepts. These are GPS (Global Positioning System) and GSM (Global System for Mobile Communication). The main application of this system is tracking the vehicle to which the GPS is connected, giving the information about its position whenever required and for the security of each person travelling by the vehicle. This is done with the help of the GPS satellite and the GPS module attached to the vehicle which needs to be tracked. The GPS antenna present in the GPS module receives the information from the GPS satellite in NMEA (National Marine Electronics Association) format and thus it reveals the position information. This information got from the GPS antenna has to be sent to the Base station wherein it is decoded. For this GSM module is used which has an antenna too. Thus we have at the Base station; the complete data about the vehicle. Along with tracking the vehicle, the system is used for security applications as well. Each passenger/employee will have an ID of their own and will be using a remote containing key for Entry, Exit and Panic. The Panic button is used by the driver or the passenger so as to alert the concerned of emergency conditions. On pressing this button, an alarm will be activated which will help the passenger/employee in emergencies and keep them secure throughout the journey. The vehicle can also be immobilized remotely.

GPS/INS Integration During GPS Outages Using Machine Learning Augmented with Kalman Filter

2021 ◽  
Vol 16 ◽  
pp. 294-301
Author(s):  
Reshma Verma ◽  
Lakshmi Shrinivasan ◽  
K Shreedarshan
Keyword(s):  
Machine Learning ◽  
Kalman Filter ◽  
Global Positioning System ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Supervised Machine Learning ◽  
Positioning System ◽  
Position Information ◽  
Global Positioning

Nowadays a tremendous progress has been witnessed in Global Positioning System (GPS) and Inertial Navigation System (INS). The Global Positioning System provides information as long as there is an unobstructed line of sight and it suffers from multipath effect. To enhance the performance of an integrated Global Positioning System and Inertial Navigation System (GPS/INS) during GPS outages, a novel hybrid fusion algorithm is proposed to provide a pseudo position information to assist the integrated navigation system. A new model that directly relates the velocity, angular rate and specific force of INS to the increments of the GPS position is established. Combined with a Kalman filter the hybrid system is able to predict and estimate a pseud GPS position when GPS signal is unavailable. Field test data are collected to experimentally evaluate the proposed model. In this paper, the obtained GPS/INS datasets are pre-processed and semi-supervised machine learning technique has been used. These datasets are then passed into Kalman filtering for the estimation/prediction of GPS positions which were lost due to GPS outages. Hence, to bridge out the gaps of GPS outages Kalman Filter plays a major role in prediction. The comparative results of Kaman filter and extended Kalman filter are computed. The simulation results show that the GPS positions have been predicted taking into account some factors/measurements of a vehicle, the trajectory of the vehicle, the entire simulation was done using Anaconda (Jupyter Notebook).

MapIN - Make a Path Inside

2021 ◽  
Vol 9 (VII) ◽  
pp. 3318-3323
Author(s):  
Dr. Sachi Gupta
Keyword(s):  
Global Positioning System ◽  
Indoor Navigation ◽  
Positioning System ◽  
Technological Aspect ◽  
Positioning Systems ◽  
Internet Technologies ◽  
Indoor Space ◽  
Wide Range ◽  
Global Positioning ◽  
Airport Terminal

Our aim is to provide a comprehensive summary of the evolution of indoor navigation technologies. Indoor navigation is a system that is used to locate the exact locations inside a campus. To provide a technological aspect of indoor positioning systems, there are a wide range of technologies and approaches. This system does not use the GPS (Global Positioning System) and any other Internet technologies. The aim is to create an app that would show the users a navigation route in the real world via mobile device’s screen. This can be beneficial to citizens in their day to day life as it allows the user to precisely navigate to a specific location in an architecture they have never been to before, such as an airport terminal, a classroom or the library in a campus, malls/retail store to navigate the customers to the items they would like to purchase etc. The created framework ought to give, progressively, valuable route data that empowers a user to settle on reasonable and convenient choices on which course to continue in an indoor space.

Aplikasi Pemosisi Lokal Berbasis Android Dengan Menggunakan GPS

INTI TALAFA ◽  
2018 ◽  
Vol 8 (2) ◽  
Author(s):  
Yaman Khaeruzzaman
Keyword(s):  
Global Positioning System ◽  
Positioning System ◽  
Database Server ◽  
Global Positioning

Seiring dengan pesatnya kemajuan teknologi saat ini, kebutuhan manusia menjadi lebih beragam, termasuk kebutuhan akan informasi. Tidak hanya media informasinya yang semakin beragam, jenis informasi yang dibutuhkan juga semakin beragam, salah satunya adalah kebutuhan informasi akan posisi kita terhadap lingkungan sekitar. Untuk memenuhi kebutuhan itu sebuah sistem pemosisi diciptakan. Sistem pemosisi yang banyak digunakan saat ini cenderung berfokus pada lingkup ruang yang besar (global) padahal, dalam lingkup ruang yang lebih kecil (lokal) sebuah sistem pemosisi juga diperlukan, seperti di ruang-ruang terbuka umum (taman atau kebun), ataupun dalam sebuah bangunan. Sistem pemosisi lokal yang ada saat ini sering kali membutuhkan infrastruktur yang mahal dalam pembangunannya. Aplikasi Pemosisi Lokal Berbasis Android dengan Menggunakan GPS ini adalah sebuah aplikasi yang dibangun untuk memenuhi kebutuhan pengguna akan informasi lokasi dan posisi mereka terhadap lingkungan di sekitarnya dalam lingkup ruang yang lebih kecil (lokal) dengan memanfaatkan perangkat GPS (Global Positioning System) yang telah tertanam dalam perangkat smartphone Android agar infrastruktur yang dibutuhkan lebih efisien. Dalam implementasinya, Aplikasi Pemosisi Lokal ini bertindak sebagai klien dengan dukungan sebuah Database Server yang berfungsi sebagai media penyimpanan data serta sumber referensi informasi yang dapat diakses melalui jaringan internet sehingga tercipta sebuah sistem yang terintegrasi secara global. Kata kunci: aplikasi, informasi, pemosisi, GPS.

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