Mobile Robot Indoor Positioning System Based on K-ELM

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Abstract
Mobile Robot Indoor Positioning System has wide application in the industry and home automation field. Unfortunately, existing mobile robot indoor positioning methods often suffer from poor positioning accuracy, system instability, and need for extra installation efforts. In this paper, we propose a novel positioning system which applies the centralized positioning method into the mobile robot, in which real-time positioning is achieved via interactions between ARM and computer. We apply the Kernel extreme learning machine (K-ELM) algorithm as our positioning algorithm after comparing four different algorithms in simulation experiments. Real-world indoor localization experiments are conducted, and the results demonstrate that the proposed system can not only improve positioning accuracy but also greatly reduce the installation efforts since our system solely relies on Wi-Fi devices.
Funding Information
  • Taishan Scholarship Construction Engineering (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)
  • Scientific Research Foundation of Shandong University of Science and Technology for Recruited Talents (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)
  • Scientific Research Foundation of Shandong University of Science and Technology for Recruited Talents (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)
  • Scientific Research Foundation of Shandong University of Science and Technology for Recruited Talents (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)
  • China Postdoctoral Science Foundation (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)
  • Key Research and Development Program of Shandong Province (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)
  • Natural Science Foundation of Shandong Province (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)
  • Natural Science Foundation of Shandong Province (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)
  • Natural Science Foundation of Shandong Province (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)
  • National Natural Science Foundation of China (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)
  • National Natural Science Foundation of China (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)
  • National Natural Science Foundation of China (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)
  • National Natural Science Foundation of China (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)
  • National Natural Science Foundation of China (2017RCJJ063, 2017RCJJ062, 2017RCJJ061, 2016T90640, 2018GGX101053, ZR2018BF020, ZR2018PF011, ZR2018ZC0436, 61806113, 61603068, 61473177, 61773245, 61503224)

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