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.File | Dimensione | Formato | |
---|---|---|---|
09325084.pdf
accesso aperto
Tipologia:
Post-print
Dimensione
7.72 MB
Formato
Adobe PDF
|
7.72 MB | Adobe PDF | Visualizza/Apri |
Localization_Based_on_Parallel_Robots_Kinematics_As_an_Alternative_to_Trilateration.pdf
non disponibili
Descrizione: articolo completo
Tipologia:
Versione Editoriale
Dimensione
4.34 MB
Formato
Adobe PDF
|
4.34 MB | Adobe PDF | Visualizza/Apri Richiedi una copia |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.