Localization of an autonomous personnel carrying vehicle in indoor environments

Erdinç Altuǧ; Şükrü Yaren Gelbal; Emin Faruk Keçeci; Mehmet Kabil Gültekin

doi:10.1145/3045714.3045719

Localization of an autonomous personnel carrying vehicle in indoor environments

Erdinç Altuǧ, Şükrü Yaren Gelbal, Emin Faruk Keçeci, Mehmet Kabil Gültekin

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

There is an emerging need of intelligent vehicles on indoor environments such as university campuses, airports or shopping malls. These intelligent vehicles can help elderly, disabled, or people with heavy luggage. This paper describes an intelligent vehicle that can be used indoor as well as outdoor areas for this purpose. Finding the exact location for indoor robots is not an easy task, since Global Positioning System (GPS) is not available indoors. In this work onboard sensors such as motor encoder and steering-wheel encoder were used to obtain localization estimates. The errors are determined to be low even when the vehicle travels long distances.

Original language	English
Title of host publication	Proceedings of 2017 International Conference on Mechatronics Systems and Control Engineering, ICMSCE 2017
Publisher	Association for Computing Machinery
Pages	38-41
Number of pages	4
ISBN (Electronic)	9781450352079
DOIs	https://doi.org/10.1145/3045714.3045719
Publication status	Published - 2 Feb 2017
Event	2017 International Conference on Mechatronics Systems and Control Engineering, ICMSCE 2017 - Kayseri, Turkey Duration: 2 Feb 2017 → 4 Feb 2017

Publication series

Name	ACM International Conference Proceeding Series

Conference

Conference	2017 International Conference on Mechatronics Systems and Control Engineering, ICMSCE 2017
Country/Territory	Turkey
City	Kayseri
Period	2/02/17 → 4/02/17

Bibliographical note

Publisher Copyright:
© 2017 ACM.

Keywords

Autonomous
Driverless vehicles
Obstacle avoidance

Access to Document

10.1145/3045714.3045719

Cite this

Altuǧ, E., Gelbal, Ş. Y., Keçeci, E. F., & Gültekin, M. K. (2017). Localization of an autonomous personnel carrying vehicle in indoor environments. In Proceedings of 2017 International Conference on Mechatronics Systems and Control Engineering, ICMSCE 2017 (pp. 38-41). (ACM International Conference Proceeding Series). Association for Computing Machinery. https://doi.org/10.1145/3045714.3045719

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abstract = "There is an emerging need of intelligent vehicles on indoor environments such as university campuses, airports or shopping malls. These intelligent vehicles can help elderly, disabled, or people with heavy luggage. This paper describes an intelligent vehicle that can be used indoor as well as outdoor areas for this purpose. Finding the exact location for indoor robots is not an easy task, since Global Positioning System (GPS) is not available indoors. In this work onboard sensors such as motor encoder and steering-wheel encoder were used to obtain localization estimates. The errors are determined to be low even when the vehicle travels long distances.",

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Altuǧ, E, Gelbal, ŞY, Keçeci, EF & Gültekin, MK 2017, Localization of an autonomous personnel carrying vehicle in indoor environments. in Proceedings of 2017 International Conference on Mechatronics Systems and Control Engineering, ICMSCE 2017. ACM International Conference Proceeding Series, Association for Computing Machinery, pp. 38-41, 2017 International Conference on Mechatronics Systems and Control Engineering, ICMSCE 2017, Kayseri, Turkey, 2/02/17. https://doi.org/10.1145/3045714.3045719

Localization of an autonomous personnel carrying vehicle in indoor environments. / Altuǧ, Erdinç; Gelbal, Şükrü Yaren; Keçeci, Emin Faruk et al.
Proceedings of 2017 International Conference on Mechatronics Systems and Control Engineering, ICMSCE 2017. Association for Computing Machinery, 2017. p. 38-41 (ACM International Conference Proceeding Series).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - There is an emerging need of intelligent vehicles on indoor environments such as university campuses, airports or shopping malls. These intelligent vehicles can help elderly, disabled, or people with heavy luggage. This paper describes an intelligent vehicle that can be used indoor as well as outdoor areas for this purpose. Finding the exact location for indoor robots is not an easy task, since Global Positioning System (GPS) is not available indoors. In this work onboard sensors such as motor encoder and steering-wheel encoder were used to obtain localization estimates. The errors are determined to be low even when the vehicle travels long distances.

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Altuǧ E, Gelbal ŞY, Keçeci EF, Gültekin MK. Localization of an autonomous personnel carrying vehicle in indoor environments. In Proceedings of 2017 International Conference on Mechatronics Systems and Control Engineering, ICMSCE 2017. Association for Computing Machinery. 2017. p. 38-41. (ACM International Conference Proceeding Series). doi: 10.1145/3045714.3045719

Localization of an autonomous personnel carrying vehicle in indoor environments

Abstract

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Bibliographical note

Keywords

Access to Document

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