Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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USN based sonar localization system for a fish robot

물고기 로봇을 위한 USN 기반 초음파 측위 시스템

  • 신대정 (전남대학교 BK21 유비쿼터스정보가전사업단) ;
  • 나승유 (전남대학교 전자컴퓨터공학부) ;
  • 김진영 (전남대학교 BK21 유비쿼터스정보가전사업단) ;
  • 박아론 (전남대학교 BK21 유비쿼터스정보가전사업단)
  • Published : 2008.01.31
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Abstract

Localization is the most important functions in mobile robots. There are so many approaches to realize this essential function in wheel based mobile robots, but it is not easy to find similar examples in small underwater robots. It is presented the sonar localization system using ubiquitous sensor network for a fish robot in this paper. A fish robot uses GPS and sonar system to find exact localization. Although GPS is essential tool to obtain positional information, this device doesn't provide reasonable resolution in localization. To obtain more precise localization information, we use several Ubiquitous Sensor Networks (USN) motes with sonar system. Experimental results show that a fish robot obtains more detailed positional information.

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References

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