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

fYear

2015

fDate

23-25 May 2015

Firstpage

3248

Lastpage

3252

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2015 27th Chinese

Conference_Location

Qingdao

Print_ISBN

978-1-4799-7016-2

Type

conf

DOI

10.1109/CCDC.2015.7162480

Filename

7162480