Localization of mobile robots based on omni-directional ultrasonic sensing

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

研究成果: 書貢獻/報告類型會議貢獻

4 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
發行者Society of Instrument and Control Engineers (SICE)
頁面1972-1975
頁數4
ISBN(列印)9784907764395
出版狀態已發佈 - 2011 一月 1
事件50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, 日本
持續時間: 2011 九月 132011 九月 18

出版系列

名字Proceedings of the SICE Annual Conference

其他

其他50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
國家日本
城市Tokyo
期間11/9/1311/9/18

ASJC Scopus subject areas

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

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  • 引用此

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