Development of position measuring system using linear CCD sensor and ultrasonic sensors

In this paper, a new position measuring system using linear CCD(charge coupled device) sensor and ultrasonic sensors are proposed. The position measuring system can measure lateral position(x), longitudinal position (y) and angle (θ) between the system and flat target with simple mark. 2 ultrasonic sensors measure 2 distances which can be converted to longitudinal position and angle. Linear CCD sensor measures lateral position using center mark of the target. Proposed system can be applied for docking of mobile robot.