Global Ultrasonic System for Self-Localization of Mobile Robot

Soo-Yeong YI  

IEICE TRANSACTIONS on Communications   Vol.E86-B   No.7   pp.2171-2177
Publication Date: 2003/07/01
Online ISSN: 
Print ISSN: 0916-8516
Type of Manuscript: PAPER
Category: Sensing
global ultrasonic system,  radio frequency module,  mobile robot,  self-localization,  extended Kalman filter,  

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This paper focuses on a global ultrasonic system for self-localization of a mobile robot. The global ultrasonic system consists of some ultrasonic generators fixed at some arbitrary position in the global coordinates and two receivers in the moving coordinates of the mobile robot. This system is used to obtain the state vector of the mobile robot in the global coordinates from the distance measurement between the ultrasonic generator and the receiver. In order to avoid the cross-talk and to synchronize the ultrasonic sensors, the sequential cuing technique using small-sized radio frequency module is adopted. An extended Kalman filter algorithm is used to process the noisy ultrasonic signal and to estimate the state vector. Computer simulations and experiments are conducted to verify the effectiveness of the proposed global ultrasonic system.