ENHANCING INDOOR LOCALIZATION ACCURACY FOR MOBILE ROBOTICS

Abstract

This paper presents a proposal for an antenna design intended for use on mobile robots that require localization, with the goal of improving the accuracy of indoor object positioning systems. The system employs a smart antenna as the transmitter, where the antenna array consists of seven fixed directional beams. Object position estimation is based on a pattern analysis technique. The paper investigates different antenna types suitable for mobile robots and proposes an optimal antenna configuration to achieve high localization accuracy. The system was experimentally deployed in a cluttered laboratory environment with human activity, and achieved a positioning error as low as 0.72 m