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With the increasing employment of mobilerobots to achieve different tasks in various applications, the need forlocalization and body position for these robots is increasing rapidly. Manytechniques are proposed to calculate the precise coordinates of a robot basedon the distances measured between the robot and a set of reference points.Also, internal sensors, such as accelerometers and gyroscopes, are used todetect the body position and the direction of the robot. However, the effect of obstacles in an indoorenvironment and sensor drifts still limit the applicability of such systems.Thus, in this study, a novel technique that uses one or more robots tocompensate for the missing stationary points is proposed. The robots in theproposed technique collaborate to improve the positioning accuracy, byproviding reference points to each other. Per each movement execution of onerobot, the remaining robots remain stationary, to provide the requiredreference points. When the robot finishes the movement execution, its positionis updated based on the signals collected from the other robots, in addition tothe position calculated by the onboard sensors. Then, another robot is selectedto execute its movement.. The results show that the proposed method has beenable to improve the positioning accuracy, by increasing the number ofcollaborating robots, when the median function if used to select thecoordinates of the robot, among the candidate positions.
Cite this article as: Albayati BIR, Kurt S.Assisting 3D Indoor Positioning for Robot Navigation. Electrica, 2019; 19(1):85-90.