Abstract
This work focuses on wireless localization of a mobile robot operating inside a building using the time of arrival technique. The basic idea is to perform measurements of range (or distance) between the robot and reference points located at specific points inside the building by means of time of arrival measurements and using these measurements to estimate the location of the robot. The contributions of this work can be summarized as follows. First, the performance of two localization algorithms (namely least-squares and weighted least-squares) are compared in the presence of ranging errors that fluctuate as a result of mobile robot movement with respect to the reference points. Second, an error estimation method is proposed, the goal of which is to reduce the error in the range measurements prior to their use with localization algorithms. The performance of the aforementioned localization algorithms, working in conjunction with this error estimation method, are analysed. The results clearly indicate that the performance of both algorithms can be improved by approximately 5-17% depending on system scenarios. Keywords: Mobile robot, time of arrival, wireless localization
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