Localization of mobile robots based on omni-directional ultrasonic sensing

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

*Corresponding author for this work

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

7 Citations (Scopus)


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)
Number of pages4
ISBN (Print)9784907764395
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sept 132011 Sept 18

Publication series

NameProceedings of the SICE Annual Conference


Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011


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

ASJC Scopus subject areas

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


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