Real-Time Unmanned Robot Tracking with Extended Kalman Filter in the Vibration Smooth Cricket Location System

Researches about tracking mobile nodes are increasing in Sensor network but almost all studies about tracking a moving device up to recently should have been estimated their moving distance using encoder, gyro and accelerometer sensors and so on. In this point of view, we present methodology for verifying tracking experiments by mapping the position of a mobile node into images acquired from a Webcam without any additional sensors. The proposed method helps us compare experimental results of unmanned robot tracking in active and passive architecture. Vibration Smooth Cricket used in our experiments was modified from the original Cricket in order to remove unmanned robot's motor interference influences on ultrasonic sensors.