Improved Ultrasonic-Based Localization Using Reflection Method

dc.contributor.authorChen-Chien Hsuen_US
dc.contributor.authorHsin-Chuan Chenen_US
dc.contributor.authorChien-Yu Laien_US
dc.description.abstractIn 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.relationthe 2009 International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2009), Bangkok, Thailand, pp. 437-440.�en_US
dc.subject.otherultrasonic reflectionen_US
dc.subject.other2D coordinatesen_US
dc.titleImproved Ultrasonic-Based Localization Using Reflection Methoden_US