@inproceedings{c418b05e4c814c989133096b76afa9b8,
title = "Localization of mobile robots based on omni-directional ultrasonic sensing",
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.",
keywords = "Dual-circle derivation, Localization, Ultrasonic sensors, Zig-Bee, robot",
author = "Hsu, {Chen Chien} and Lai, {Chien Yu} and Chisato Kanamori and Hisayuki Aoyama and Wong, {Ching Chang}",
year = "2011",
language = "English",
isbn = "9784907764395",
series = "Proceedings of the SICE Annual Conference",
publisher = "Society of Instrument and Control Engineers (SICE)",
pages = "1972--1975",
booktitle = "SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts",
note = "50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 ; Conference date: 13-09-2011 Through 18-09-2011",
}