Localization of a High-speed Mobile Robot Using Ultrasonic/RF Sensor and Global Features

RF/초음파센서와 이동특성에 기반한 고속 이동로봇의 위치추정기법

  • 이수성 (과학영재고등학교) ;
  • 최문규 (부산대학교 전자전기공학부) ;
  • 박재현 (부산대학교 전자전기공학부) ;
  • 이장명 (부산대학교 전자전기공학부)
  • Published : 2009.07.01


A new localization algorithm is proposed for a fast moving mobile robot, which utilizes only one beacon and the global features of the differential-driving mobile robot. It takes a relatively long time to localize a mobile robot with active beacon sensors since the distance to the beacon is measured by the traveling time of the ultrasonic signal. When the mobile robot is moving slowly the measurement time does not yield a high error. At a higher mobile robot speed, however, the localization error becomes too large to locate the mobile robot. Therefore, in high-speed mobile robot operations, instead of using two or more active beacons for localization, only one active beacon and the global features of the mobile robot are used to localize the mobile robot in this research. The two global features are the radius and center of the rotational motion for the differential-driving mobile robot which generally describe motion of the mobile robot and are used for the trace prediction of the mobile robot. In high speed operations the localizer finds an intersection point of this predicted trace and a circle which is centered at the beacon and has the radius of the distance between the mobile robot and the beacon. This new approach resolves the large localization error caused by the high speed of the mobile robot. The performance of the new localization algorithm has been verified through the experiments with a high-speed mobile robot.


  1. D. Lee and W. Chung, 'Discrete-status-based localization for indoor service robots,' Industrial Electronics, IEEE Transactions on, vol. 53, issue 5, pp.1737-1746, 2006
  2. A. Talneau, S. Slempkes, and A. Ougazzaden, 'Multisensor fusion for simultaneous localization and map building,' Robotics and Automation, IEEE Transactions on, vol. 17, issue 6, pp. 908-914, 2001
  3. Ching-Chih Tsai, 'A localization system of a mobile robot by fusing dead-reckoning and ultrasonic measurements,' Industrial Electronics, IEEE Transactions on, vol. 47, issue 5, pp. 1399-1404,1998
  4. J. Borenstein and L. Feng, 'Measurement and correction of systematic odometly errors in mobile robots,'Robotics and Automation, IEEE Transactions on, vol. 12, pp. 869-880, 1996
  5. J. Wolf, W. Burgard and H. Burkhardt, 'Robust vision-based localization by combining an image-retrieval system with monte carlo localization,' Robotics, IEEE Transactions on, vol. 21, issue 2, pp. 208-216, 2005
  6. F. Chenavier and J. Crowley, 'Position estimation for a mobile robot using vision and odometly,' IEEE International Conference on Robotics and Automation, Nice, France, pp.2588-2593,1992
  7. J. Huang and H.-S. Tan, 'A low-order dgps-based vehicle positioning system under urban environment,' Mechatronics, IEEE/ASME Transactions on, vol. 11, Issue 5, pp. 567-575, 2006
  8. S. K. Cho, S. C. Shin and J. M. Lee, 'A dynamic localization algorithm for mobile robots using the iGS system,' Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 2-5, 2008, China
  9. J. M. Yun, S. B. Kim and J. M. Lee, 'Robust positioning a mobile robot with active beacon sensors,' LNAI 4251, ISSN 0302-9743, Part I, pp. 890-897, 2006
  10. S. B. Kim and J. M. Lee, 'Precise indoor localization system for a mobile robot using auto calibration algorithm,' Korean Robotics Society, vol. 2, no. 1, pp. 40-47, 2007
  11. D. E. Manolakis, 'Efficient solution and performance analysis of 3-D position estimation by trilateration," IEEE Transactions on Aerospace and Electronic Systems, vol. 32, pp. 1239-1248, 1996
  12. S. S. Ghidary, T. Tani, T. Takamori, and M. Hattori, 'A new Home Robot Positioning System (HRPS) using IR switched multi ultrasonic sensors,' Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Coriference Proceedings, vol. 4, pp. 737-741,1999.
  13. Sebastian Thrun, Wolfram Burgard, and Dieter Fox, 'Probabilistic Robotics,' The MIT Press, Cambridge, 2005
  14. W E. Dixon, D. M. Dawson, E. Zergeroglu, and A. Behal, 'Nonlinear control of wheeled mobile robots,' Springer Verlag, 2003
  15. W-C. Chang and S.-A. Lee, 'Autonomous vision-based pose control of mobile robots with tele-supervision,' Proc. IEEE Int. Conf. on Control Applications, pp. 1049-1054,2004
  16. Tzuu-Hseng S. Li, S.-J. Chang, and W. Tong, 'Fuzzy target tracking control of autonomous mobile robots by using infrared sensors,' IEEE Transaction on Fuzzy systems, vol. 12, no. 4, pp. 491-501,2004
  17. S. S. Han, B. S. Choi, and J. M. Lee, 'A precise curved motion planning for a differential driving mobile robot,' Mechatronics, vol. 18, pp. 1-9, 2008
  18. Shangming Wei and Milo Zefran, 'Smooth path planning and control for mobile robots,' IEEE Proc. on Networking, Sensing and Control, pp. 894-899, 2005
  19. W.-C. Chang and S.-A. Lee, 'Autonomous vision-based pose control of mobile robots with tele-supervision,' Proc. IEEE Int.Conf on Control Applications, pp. 1049-1054, 2004