Burke, Michael GBos, N2011-12-122011-12-122011-11Burke, M.G. and Bos, N. 2011. Optimal placement of range-only beacons for mobile robot localisation. 4th Robotics and Mechatronics Conference of South Africa (RobMech 2011), CSIR International Conference Centre, Pretoria, 23-25 November 2011http://hdl.handle.net/10204/53864th Robotics and Mechatronics Conference of South Africa (RobMech 2011), CSIR International Conference Centre, Pretoria, 23-25 November 2011The ability of an agent to self-localise is crucial to any autonomous task where mobility is required. A common set of techniques solving the localisation problem involve the deployment of active beacons or landmarks, which eliminate problems related to landmark detection and association. The use of beacons providing range-only estimates using time-of-flight measurements is one such approach. Here, range measurements are used in trilateration or range-only SLAM algorithms to provide an accurate measure of a robot’s position. Unfortunately, the potential error in a position estimate is related to the relative geometry of the beacons, and poorly placed beacons can result in extremely inaccurate location estimates. This paper presents an optimisation technique for finding optimal beacon positions, so as to minimise the mean positional uncertainty in a given environment. Our work shows that this approach represents an improvement on previous approaches because the resultant uncertainty map can be used as a heuristic to improve path planning algorithms.enMobile robot localisationMobile robotsSLAM algorithmsBeacon positionsRange-only LocalisationRoboticsMechatronicsRobMech 2011Conference PresentationBurke, M. G., & Bos, N. (2011). Optimal placement of range-only beacons for mobile robot localisation. http://hdl.handle.net/10204/5386Burke, Michael G, and N Bos. "Optimal placement of range-only beacons for mobile robot localisation." (2011): http://hdl.handle.net/10204/5386Burke MG, Bos N, Optimal placement of range-only beacons for mobile robot localisation; 2011. http://hdl.handle.net/10204/5386 .TY - Conference Presentation AU - Burke, Michael G AU - Bos, N AB - The ability of an agent to self-localise is crucial to any autonomous task where mobility is required. A common set of techniques solving the localisation problem involve the deployment of active beacons or landmarks, which eliminate problems related to landmark detection and association. The use of beacons providing range-only estimates using time-of-flight measurements is one such approach. Here, range measurements are used in trilateration or range-only SLAM algorithms to provide an accurate measure of a robot’s position. Unfortunately, the potential error in a position estimate is related to the relative geometry of the beacons, and poorly placed beacons can result in extremely inaccurate location estimates. This paper presents an optimisation technique for finding optimal beacon positions, so as to minimise the mean positional uncertainty in a given environment. Our work shows that this approach represents an improvement on previous approaches because the resultant uncertainty map can be used as a heuristic to improve path planning algorithms. DA - 2011-11 DB - ResearchSpace DP - CSIR KW - Mobile robot localisation KW - Mobile robots KW - SLAM algorithms KW - Beacon positions KW - Range-only Localisation KW - Robotics KW - Mechatronics KW - RobMech 2011 LK - https://researchspace.csir.co.za PY - 2011 T1 - Optimal placement of range-only beacons for mobile robot localisation TI - Optimal placement of range-only beacons for mobile robot localisation UR - http://hdl.handle.net/10204/5386 ER -