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.

Garraffa G., Sferlazza A., D'IPPOLITO F., & Alonge F. (2022). Localization Based on Parallel Robots Kinematics as an Alternative to Trilateration. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 69(1), 999-1010 [10.1109/TIE.2021.3050354].

Localization Based on Parallel Robots Kinematics as an Alternative to Trilateration

Sferlazza A.
Membro del Collaboration Group
;
D'IPPOLITO F.
Membro del Collaboration Group
;
Alonge F.
Membro del Collaboration Group
2022-01-01

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 ING-INF/04 - Automatica
Garraffa G., Sferlazza A., D'IPPOLITO F., & Alonge F. (2022). Localization Based on Parallel Robots Kinematics as an Alternative to Trilateration. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 69(1), 999-1010 [10.1109/TIE.2021.3050354].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/10447/497336
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