Title :
Positioning approach for indoor autonomous mobile robot using a single ultrasonic sensor pair
Author :
MingRui Lv ; Yunfeng Gao ; Lun Zhou ; Guanglei Huo
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
This paper presents an approach utilizing asynchronous time-of-flight (ATOF) measurements for autonomous mobile robots (AMRs) to be able to localize itself in indoor environments, using a single ultrasonic sensor pair which comprises an ultrasonic transmitter and an ultrasonic receiver. A circular localization scheme will be described. A state estimation model based on double-layer Kalman filter (DLKF) is developed to fuse the data calculated from ATOF and that from the Dead-Reckoning (DR) localization. A computer simulation experiment has been conducted to verify the efficiency of the proposed localization scheme.
Keywords :
Kalman filters; indoor environment; mobile robots; path planning; position control; state estimation; AMR; ATOF measurements; DLKF; asynchronous time-of-flight measurements; autonomous mobile robots; circular localization scheme; computer simulation experiment; dead reckoning localization; double layer Kalman filter; indoor autonomous mobile robot; indoor environments; positioning; single ultrasonic sensor pair; state estimation model; ultrasonic receiver; ultrasonic transmitter; Acoustics; Compass; Estimation; Receivers; Robot sensing systems; Ultrasonic variables measurement; Vectors; Dead-Recknoning localization; Ultrasonic sensor; data fusion; double-layer Kalman Filter; indoor localization;
Conference_Titel :
Information and Automation (ICIA), 2013 IEEE International Conference on
Conference_Location :
Yinchuan
DOI :
10.1109/ICInfA.2013.6720401
