Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Localization of Mobile Robot using Ultrasonic Sensor Network

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  • Cheon, Hyo-Seok (Department of Electrical Engineering, Changwon National University) ;
  • Hwang, Keun-Woo (Department of Electrical Engineering, Changwon National University) ;
  • Park, Seung-Kyu (Department of Electrical Engineering, Changwon National University) ;
  • Yoon, Tae-Sung (Department of Electrical Engineering, Changwon National University)
  • 천효석 (국립 창원대학교 전기공학과) ;
  • 황근우 (국립 창원대학교 전기공학과) ;
  • 박승규 (국립 창원대학교 전기공학과) ;
  • 윤태성 (국립 창원대학교 전기공학과)
  • Published : 2011.07.20
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Abstract

In this paper, we compared several localization methods for indoor mobile robot navigation using a global ultrasonic sensor network. To estimate the pose of mobile robot in the sensor network, the range or range difference information with or without robot kinematics is used. Simulation results showed that the localization methods with robot kinematics have better performances.

Keywords