Omnidirectional Ultrasonic Localization for Mobile Robots
學年 110
學期 2
出版(發表)日期 2022-02-14
作品名稱 Omnidirectional Ultrasonic Localization for Mobile Robots
著者 Chen-Chien Hsu; Hsin-Chuan Chen; Ching-Chang Wong; Chien-Yu Lai
著錄名稱、卷期、頁數 Sensors and Materials 34(2), p.453-466
摘要 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.
關鍵字 ultrasonic;omnidirectional sensing;localization;mobile robot;dual-circle localization
語言 en_US
ISSN 0914-4935
期刊性質 國外
收錄於 SCI
國別 JPN
出版型式 ,電子版,紙本

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