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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/12854

Title: Hardware-assisted Direction Estimation for Mobile Robot Target Tracking Applications
Authors: Lee, Geunho
Tatara, Kazutaka
Chong, Nak Young
Keywords: RF direction sensing
mobile robot navigation
direction-of-arrival estimation
phase difference
RF target tracking
Issue Date: 2015-03
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2015 IEEE International Conference on Mechatronics (ICM)
Start page: 182
End page: 187
DOI: 10.1109/ICMECH.2015.7083970
Abstract: This paper addresses design and implementation issues for the directional sensing of electromagnetic waves, aiming to provide an efficient solution to mobile robot target tracking for various applications. What is the most important aspect from the practical point of view is how to realize accurate measurements of the bearing to the transponder(s). For the purpose, a novel direction-of-arrival (DoA) estimation model is proposed using a minimum number of antennas. Another focus lies in the implementation of an in-house DoA detector prototype considering the simplicity and generality of hardware configurations. This paper explains details of a purpose-built, cost-efficient solution ranging from the estimation model design to its hardware implementation suitable for autonomous robot navigation. Experimental results show that the proposed method for DoA estimation and its hardware prototype can be considered quite satisfactory in a normal office environment.
Rights: This is the author's version of the work. Copyright (C) 2015 IEEE. 2015 IEEE International Conference on Mechatronics (ICM), 2015, 182-187. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/12854
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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