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EnglishIn this work a new scheme for range-based localization is proposed. The main goal is to estimate the position of a mobile point based on distance measurements from fixed devices, called anchors, and on inertial measurements. Due to the non-linear nature of the problem, an analytic relation to compute the position starting from these measurements does not exist, and often trilateration methods are used, generally based on least-square algorithms. The proposed scheme is based on the modelling of the localization process as a parallel robot, thereby methodologies and control algorithms used in the robotic area can be exploited. In particular, a closed loop control system is designed for tracking the position of a mobile point based on range measurements from fixed anchors, and it is shown a peculiar structure of the tracking error dynamics, whose allows an intuitive gain tuning and ensures global exponential stability. Moreover, it is also shown a nice connection between tuning parameters and rate of convergence of the estimation error. Experimental results confirm the validity of the proposed localization method.
Garraffa G., Sferlazza A., D'IPPOLITO F., & Alonge F. (2021). Localization Based on Parallel Robots Kinematics as an Alternative to Trilateration. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1-1.
| Data di pubblicazione: | 2021 | |
| Titolo: | Localization Based on Parallel Robots Kinematics as an Alternative to Trilateration | |
| Autori: | ALONGE, Francesco [Membro del Collaboration Group] | |
| Citazione: | Garraffa G., Sferlazza A., D'IPPOLITO F., & Alonge F. (2021). Localization Based on Parallel Robots Kinematics as an Alternative to Trilateration. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1-1. | |
| Rivista: | ||
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/TIE.2021.3050354 | |
| Abstract: | In this work a new scheme for range-based localization is proposed. The main goal is to estimate the position of a mobile point based on distance measurements from fixed devices, called anchors, and on inertial measurements. Due to the non-linear nature of the problem, an analytic relation to compute the position starting from these measurements does not exist, and often trilateration methods are used, generally based on least-square algorithms. The proposed scheme is based on the modelling of the localization process as a parallel robot, thereby methodologies and control algorithms used in the robotic area can be exploited. In particular, a closed loop control system is designed for tracking the position of a mobile point based on range measurements from fixed anchors, and it is shown a peculiar structure of the tracking error dynamics, whose allows an intuitive gain tuning and ensures global exponential stability. Moreover, it is also shown a nice connection between tuning parameters and rate of convergence of the estimation error. Experimental results confirm the validity of the proposed localization method. | |
| Settore Scientifico Disciplinare: | Settore ING-INF/04 - Automatica | |
| Appare nelle tipologie: | 1.01 Articolo in rivista |
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