Design and performance evaluation of wiimote-based two-dimensional indoor localization systems for indoor mobile robot control

• We realized a 2-D indoor localization system with wiimote cameras for mobile robot guidance.
• It is capable to catch the planar translation and rotation motions of entire living space.
• Essential tests have been conducted and the accuracy is within 1 cm.
• The localization system has been used as a part of mobile robot motion control.

Indoor localization of mobile units is critical for subsequent task development of intelligent living technology. In this work, a modified wiimote-based 2D localization scheme is proposed and experimentally validated for indoor mobile robot tracking and control tasks. This scheme uses one wiimote to monitor the position of at least two IR LEDs simultaneously for determining both translation and rotation motions of the wiimote-mounted carrier. An algorithm is then developed for converting the wiimote readouts to the position and orientation of the corresponding mobile unit based on the major axes identification, coordinate transformation, and position updating. The scheme and the algorithm are then validated by tracking the wiimote location on a two-axis linear servomotor. Finally, by integrating this global positioning scheme with feedback control, trajectory tracking of an omni-wheel based mobile robot is performed to demonstrate the importance of the scheme in indoor smart living technology.

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