Title :
Design of localization system for indoor mobile robots based on ultrasonic net
Author :
Jia Qian ; Niu Weiqiang ; Wang Mulan ; Liu Shuqing ; Ge Jianjing
Author_Institution :
Nanjing Inst. of Technol., Nanjing, China
Abstract :
A localization system for indoor mobile robots using ultrasonic net is presented in this paper. In positioning process, a triangle localization algorithm and an averaging filter method are introduced. After constructing an experimental platform and ultrasonic net, static and dynamic experiments are performed to acquire the accuracy of localization system. Then, positioning experiments for a moving robot are implemented with four different speeds. Integrated with all experiments, causes of positioning error are analyzed. As a result, the system is stable, reliable and easy to realize. It can meet the general requirement of localization for indoor mobile robots.
Keywords :
SLAM (robots); acoustic signal processing; filtering theory; indoor navigation; mobile robots; ultrasonic measurement; averaging filter method; dynamic experiment; indoor mobile robots; localization system design; moving robot; positioning error analysis; positioning process; static experiment; system reliability; system stability; triangle localization algorithm; ultrasonic net; Acoustics; Mobile robots; Receivers; Robot kinematics; Robot sensing systems; Ultrasonic variables measurement; Localization System; Mobile Robot; Positioning Error; Ultrasonic Net;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7162480
