ROS Architecture for Indoor Localization of Smart-AGVs Based on SA-MCL Algorithm

Abdurrahman Yilmaz; Hakan Temeltas

doi:10.23919/ELECO47770.2019.8990622

ROS Architecture for Indoor Localization of Smart-AGVs Based on SA-MCL Algorithm

Kontrol ve Otomasyon Mühendisliği Bölümü

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

4 Atıf (Scopus)

Özet

Localization is a problem in mobile robotics, which is widely studied and tries to determine the instantaneous position and orientation of the robot. However, the studies that present the necessary infrastructure for real-world applications of the developed methods are in the minority. Therefore, in this study, the architecture required to implement the updated SA-MCL algorithm with the ellipse based energy model in the ROS environment is given. According to the proposed architecture, this algorithm is utilized in a real application and the obtained results are shown. Thus, it is aimed that the researchers who have ROS enabled experimental setup and/or robot model prepared in ROS-Gazebo environment can easily apply the method.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
Sayfalar	885-889
Sayfa sayısı	5
ISBN (Elektronik)	9786050112757
DOI'lar	https://doi.org/10.23919/ELECO47770.2019.8990622
Yayın durumu	Yayınlandı - Kas 2019
Etkinlik	11th International Conference on Electrical and Electronics Engineering, ELECO 2019 - Bursa, Türkiye Süre: 28 Kas 2019 → 30 Kas 2019

Yayın serisi

Adı	ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	11th International Conference on Electrical and Electronics Engineering, ELECO 2019
Ülke/Bölge	Türkiye
Şehir	Bursa
Periyot	28/11/19 → 30/11/19

Bibliyografik not

Publisher Copyright:
© 2019 Chamber of Turkish Electrical Engineers.

Finansman

This study was financially supported by the Scientific and Technological Research Council of Turkey, abbreviated as TUBITAK, under grant number 116E734.

Finansörler	Finansör numarası
TUBITAK	116E734
Türkiye Bilimsel ve Teknolojik Araştirma Kurumu

Belgeye Erişim

10.23919/ELECO47770.2019.8990622

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

Yilmaz, A., & Temeltas, H. (2019). ROS Architecture for Indoor Localization of Smart-AGVs Based on SA-MCL Algorithm. In ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering (pp. 885-889). Makale 8990622 (ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ELECO47770.2019.8990622

Yilmaz, Abdurrahman ; Temeltas, Hakan. / ROS Architecture for Indoor Localization of Smart-AGVs Based on SA-MCL Algorithm. ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 885-889 (ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering).

@inproceedings{1769f921cc1449349e09ee3fec17d31e,

title = "ROS Architecture for Indoor Localization of Smart-AGVs Based on SA-MCL Algorithm",

abstract = "Localization is a problem in mobile robotics, which is widely studied and tries to determine the instantaneous position and orientation of the robot. However, the studies that present the necessary infrastructure for real-world applications of the developed methods are in the minority. Therefore, in this study, the architecture required to implement the updated SA-MCL algorithm with the ellipse based energy model in the ROS environment is given. According to the proposed architecture, this algorithm is utilized in a real application and the obtained results are shown. Thus, it is aimed that the researchers who have ROS enabled experimental setup and/or robot model prepared in ROS-Gazebo environment can easily apply the method.",

author = "Abdurrahman Yilmaz and Hakan Temeltas",

note = "Publisher Copyright: {\textcopyright} 2019 Chamber of Turkish Electrical Engineers.; 11th International Conference on Electrical and Electronics Engineering, ELECO 2019 ; Conference date: 28-11-2019 Through 30-11-2019",

year = "2019",

month = nov,

doi = "10.23919/ELECO47770.2019.8990622",

language = "English",

series = "ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "885--889",

booktitle = "ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering",

address = "United States",

}

Yilmaz, A & Temeltas, H 2019, ROS Architecture for Indoor Localization of Smart-AGVs Based on SA-MCL Algorithm. in ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering., 8990622, ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering, Institute of Electrical and Electronics Engineers Inc., pp. 885-889, 11th International Conference on Electrical and Electronics Engineering, ELECO 2019, Bursa, Türkiye, 28/11/19. https://doi.org/10.23919/ELECO47770.2019.8990622

ROS Architecture for Indoor Localization of Smart-AGVs Based on SA-MCL Algorithm. / Yilmaz, Abdurrahman ; Temeltas, Hakan.
ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering. Institute of Electrical and Electronics Engineers Inc., 2019. p. 885-889 8990622 (ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering).

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

TY - GEN

T1 - ROS Architecture for Indoor Localization of Smart-AGVs Based on SA-MCL Algorithm

AU - Yilmaz, Abdurrahman

AU - Temeltas, Hakan

PY - 2019/11

Y1 - 2019/11

N2 - Localization is a problem in mobile robotics, which is widely studied and tries to determine the instantaneous position and orientation of the robot. However, the studies that present the necessary infrastructure for real-world applications of the developed methods are in the minority. Therefore, in this study, the architecture required to implement the updated SA-MCL algorithm with the ellipse based energy model in the ROS environment is given. According to the proposed architecture, this algorithm is utilized in a real application and the obtained results are shown. Thus, it is aimed that the researchers who have ROS enabled experimental setup and/or robot model prepared in ROS-Gazebo environment can easily apply the method.

AB - Localization is a problem in mobile robotics, which is widely studied and tries to determine the instantaneous position and orientation of the robot. However, the studies that present the necessary infrastructure for real-world applications of the developed methods are in the minority. Therefore, in this study, the architecture required to implement the updated SA-MCL algorithm with the ellipse based energy model in the ROS environment is given. According to the proposed architecture, this algorithm is utilized in a real application and the obtained results are shown. Thus, it is aimed that the researchers who have ROS enabled experimental setup and/or robot model prepared in ROS-Gazebo environment can easily apply the method.

UR - https://www.scopus.com/pages/publications/85080922236

U2 - 10.23919/ELECO47770.2019.8990622

DO - 10.23919/ELECO47770.2019.8990622

M3 - Conference contribution

AN - SCOPUS:85080922236

T3 - ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering

SP - 885

EP - 889

BT - ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 11th International Conference on Electrical and Electronics Engineering, ELECO 2019

Y2 - 28 November 2019 through 30 November 2019

ER -

Yilmaz A , Temeltas H. ROS Architecture for Indoor Localization of Smart-AGVs Based on SA-MCL Algorithm. In ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering. Institute of Electrical and Electronics Engineers Inc. 2019. p. 885-889. 8990622. (ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering). doi: 10.23919/ELECO47770.2019.8990622

ROS Architecture for Indoor Localization of Smart-AGVs Based on SA-MCL Algorithm

Özet

Yayın serisi

???event.eventtypes.event.conference???

Bibliyografik not

Finansman

Belgeye Erişim

Diğer Dosyalar ve Linkler

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