Abstract
We have developed a DOA-based local area positioning system for position measurement of autonomous sweeping robot“SuiPPi”. This system can reduce the cost of the positioning system because it consists of a few components such as beacons, an array antenna and a signal processing unit. We have gotten the same accuracy as that of conventional TDOA system using wireless LAN. If beacons are placed at intervals of 20 [m], we can provide a positioning information of the robot in the accuracy of about 2 [m] .
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