Leader Follower Navigation System based on Pedestrian Dead Reckoning for Mobile Robot Navigation

Muhammad Farih, Mochammad Sahal*, A. K. Rusdhianto Effendi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Navigation systems are the first things to have for all types of unmanned vehicles whether it is land, water, or air vehicles. Navigation systems are divided into independent and leader-follower. Today, Global Positioning System (GPS) plays an important role for vehicle positioning. Nevertheless, GPS has a weakness that the signals will be distorted when the GPS receivers are placed in indoor environments. In this research, leader-follower navigation systems based on pedestrian dead reckoning are designed with wheeled mobile robot as the follower. Artificial Neural Network (ANN) is used as stride length model and the leader heading is obtained from magnetometer. Both data are sent to the follower through Wi-Fi. For follower system, linear model is used as robot distance model and follower heading is obtained from its magnetometer. The test shows that the best model for stride length prediction is ANN model with one hidden layer and four neuron units which has 4.65 cm training error and 5.04 cm testing error using 614 stride examples. As for robot distance model shows that the error is 2.0956 cm using 25 data samples. Finally, the heading error is 39.262° which is tested from two magnetometers with 28 testing points.

Original languageEnglish
Title of host publicationProceedings - 2019 International Seminar on Intelligent Technology and Its Application, ISITIA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages96-101
Number of pages6
ISBN (Electronic)9781728137490
DOIs
Publication statusPublished - Aug 2019
Event2019 International Seminar on Intelligent Technology and Its Application, ISITIA 2019 - Surabaya, Indonesia
Duration: 28 Aug 201929 Aug 2019

Publication series

NameProceedings - 2019 International Seminar on Intelligent Technology and Its Application, ISITIA 2019

Conference

Conference2019 International Seminar on Intelligent Technology and Its Application, ISITIA 2019
Country/TerritoryIndonesia
CitySurabaya
Period28/08/1929/08/19

Keywords

  • Artificial Neural Network
  • Leader follower navigation systems
  • Magnetometer
  • Pedestrian Dead Reckoning

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