An improved ultrasonic-based localization using reflection method

Chen Chien Hsu, Hsin Chuan Chen, Chien Yu Lai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

In this paper, an ultrasonic-based localization using ultrasonic reflection method is proposed. Experiment environment includes a mobile robot and four poles forming a square around the measuring site. Ultrasonic sensors built on the poles serve as receivers and the mobile robot serves as a transmitter, and all ultrasonic sensors are integrated with their Zig-Bee modules. By the sequential ultrasonic signal transmission between the robot and the poles, the ultrasonic sensors on the poles can then measure the time-of-flight (TOF) without interference to calculate the distance between the receiver and transmitter ends. According to an established twodimensional coordinate model, position of the robot can be obtained based on the distance measurements. Thanks to Zig-Bee modules, position information of the robot can be instantly conveyed to a remote PC for monitoring the robot and path planning. Extensive experiments conducted have shown a satisfactory accuracy of the coordinates of the mobile robot can be obtained via the proposed localization scheme.

Original languageEnglish
Title of host publicationProceedings - 2009 International Asia Conference on Informatics in Control, Automation, and Robotics, CAR 2009
Pages437-440
Number of pages4
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 International Asia Conference on Informatics in Control, Automation, and Robotics, CAR 2009 - Bangkok, Thailand
Duration: 2009 Feb 12009 Sep 2

Other

Other2009 International Asia Conference on Informatics in Control, Automation, and Robotics, CAR 2009
CountryThailand
CityBangkok
Period09/2/109/9/2

Keywords

  • 2D coordinates
  • Localization
  • Robot
  • Ultrasonic reflection
  • Zig-Bee

ASJC Scopus subject areas

  • Information Systems
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering

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