Localization of mobile robots based on omni-directional ultrasonic sensing

Chen Chien Hsu, Chien Yu Lai, Chisato Kanamori, Hisayuki Aoyama, Ching Chang Wong

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

3 Citations (Scopus)

Abstract

A localization method based on omni-directional ultrasonic sensing is proposed in this paper, circumventing the detection-angle limitation of ultrasonic signals. Experiment setup includes four ultrasonic sensors located on the vertexes in a square environment serving as receivers and a mobile robot carrying an omni-directional ultrasonic device as a transmitter. Each ultrasonic sensor is integrated with a Zig-Bee module for communication. By sequential ultrasonic signal transmission between the robot and the receivers, the ultrasonic sensors can then measure the time-of-flight (TOF) while avoiding interference to calculate the distance between the receiver and transmitter ends. According to an established two-dimensional coordinate model using dual-circle derivation, the coordinate of the robot can be obtained based on the distance measurement. Experimental results have shown a satisfactory accuracy of the coordinates of the mobile robot via the proposed localization scheme.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1972-1975
Number of pages4
ISBN (Print)9784907764395
Publication statusPublished - 2011 Jan 1
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Publication series

NameProceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period11/9/1311/9/18

Fingerprint

Ultrasonic sensors
Mobile robots
Ultrasonics
Transmitters
Ultrasonic devices
Robots
Distance measurement
Communication
Experiments

Keywords

  • Dual-circle derivation
  • Localization
  • Ultrasonic sensors
  • Zig-Bee
  • robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Hsu, C. C., Lai, C. Y., Kanamori, C., Aoyama, H., & Wong, C. C. (2011). Localization of mobile robots based on omni-directional ultrasonic sensing. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 1972-1975). [6060291] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).

Localization of mobile robots based on omni-directional ultrasonic sensing. / Hsu, Chen Chien; Lai, Chien Yu; Kanamori, Chisato; Aoyama, Hisayuki; Wong, Ching Chang.

SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts. Society of Instrument and Control Engineers (SICE), 2011. p. 1972-1975 6060291 (Proceedings of the SICE Annual Conference).

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

Hsu, CC, Lai, CY, Kanamori, C, Aoyama, H & Wong, CC 2011, Localization of mobile robots based on omni-directional ultrasonic sensing. in SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts., 6060291, Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), pp. 1972-1975, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 11/9/13.
Hsu CC, Lai CY, Kanamori C, Aoyama H, Wong CC. Localization of mobile robots based on omni-directional ultrasonic sensing. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts. Society of Instrument and Control Engineers (SICE). 2011. p. 1972-1975. 6060291. (Proceedings of the SICE Annual Conference).
Hsu, Chen Chien ; Lai, Chien Yu ; Kanamori, Chisato ; Aoyama, Hisayuki ; Wong, Ching Chang. / Localization of mobile robots based on omni-directional ultrasonic sensing. SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts. Society of Instrument and Control Engineers (SICE), 2011. pp. 1972-1975 (Proceedings of the SICE Annual Conference).
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