Improved Ultrasonic-Based Localization Using Reflection Method

dc.contributor 國立臺灣師範大學電機工程學系 zh_tw Chen-Chien Hsu en_US Hsin-Chuan Chen en_US Chien-Yu Lai en_US 2014-10-30T09:28:34Z 2014-10-30T09:28:34Z 2009-02-02 zh_TW
dc.description.abstract In this paper, an ultrasonic-based localization using ultrasonic reflection method is proposed. Experiment environment includes a mobile robot and four poles forming a square around the measuring site. Ultrasonic sensors built on the poles serve as receivers and the mobile robot serves as a transmitter, and all ultrasonic sensors are integrated with their Zig-Bee modules. By the sequential ultrasonic signal transmission between the robot and the poles, the ultrasonic sensors on the poles can then measure the time-of-flight (TOF) without interference to calculate the distance between the receiver and transmitter ends. According to an established two-dimensional coordinate model, position of the robot can be obtained based on the distance measurements. Thanks to Zig-Bee modules, position information of the robot can be instantly conveyed to a remote PC for monitoring the robot and path planning. Extensive experiments conducted have shown a satisfactory accuracy of the coordinates of the mobile robot can be obtained via the proposed localization scheme. en_US
dc.description.uri zh_TW
dc.identifier ntnulib_tp_E0607_02_019 zh_TW
dc.language en zh_TW
dc.relation the 2009 International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2009), Bangkok, Thailand, pp. 437-440.� en_US
dc.subject.other ultrasonic reflection en_US
dc.subject.other localization en_US
dc.subject.other robot en_US
dc.subject.other Zig-Bee en_US
dc.subject.other 2D coordinates en_US
dc.title Improved Ultrasonic-Based Localization Using Reflection Method en_US