Omnidirectional Ultrasonic Localization for Mobile Robots

Chen Chien Hsu, Hsin Chuan Chen*, Ching Chang Wong, Chien Yu Lai

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


To solve the detection angle limitation of conventional ultrasonic sensors, we propose a localization system based on omnidirectional ultrasonic sensing by using a reflection cone to generate ultrasonic beams with 360° propagation. The architecture of the proposed localization system includes four ultrasonic receivers deployed around a square measuring environment and a mobile robot carrying an integrated omnidirectional ultrasonic module as a transmitter. When the ultrasonic receivers receive ultrasonic signals from the integrated omnidirectional ultrasonic module, distance measurements between the transmitter and the receiver can be obtained by time-of-flight calculation, which are sequentially transferred to a remote PC via a Zigbee wireless network. Using the distance measurements collected from the receivers, the coordinates of the mobile robot can be determined by using the established dual-circle localization method. Experimental results have shown satisfactory accuracy in determining the coordinates of the mobile robot via the proposed localization system.

Original languageEnglish
Pages (from-to)453-466
Number of pages14
JournalSensors and Materials
Issue number2
Publication statusPublished - 2022


  • Dual-circle localization
  • Localization
  • Mobile robot
  • Omnidirectional sensing
  • Ultrasonic

ASJC Scopus subject areas

  • General Materials Science
  • Instrumentation


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