國立臺灣師範大學電機工程學系Chen-Chien HsuChien-Yu LaiJune-Wei HuangYu-Hung Chen2014-10-302014-10-302008-07-011005-9113http://rportal.lib.ntnu.edu.tw/handle/20.500.12235/32105Ultrasonic-based localization for mobile robots incorporating Zig-Bee modules