Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of Precise Localization System for Autonomous Mobile Robots using Multiple Ultrasonic Transmitters and Receivers in Indoor Environments

다수의 초음파 송수신기를 이용한 이동 로봇의 정밀 실내 위치인식 시스템의 개발

  • Kim, Yong-Hwi (Korea Advanced Institute of Science and Technology) ;
  • Song, Ui-Kyu (Korea Advanced Institute of Science and Technology) ;
  • Kim, Byung-Kook (Korea Advanced Institute of Science and Technology)
  • 김용휘 (한국과학기술원 전자전산학과 전기전자) ;
  • 송의규 (한국과학기술연구원 로봇.시스템본부 영상미디어센터) ;
  • 김병국 (한국과학기술원 전자전산학과 전기전자)
  • Received : 2010.01.29
  • Accepted : 2011.01.27
  • Published : 2011.04.01
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Abstract

A precise embedded ultrasonic localization system is developed for autonomous mobile robots in indoor environments, which is essential for autonomous navigation of mobile robots with various tasks. Although ultrasonic sensors are more cost-effective than other sensors such as LRF (Laser Range Finder) and vision, they suffer inaccuracy and directional ambiguity. First, we apply the matched filter to measure the distance precisely. For resolving the computational complexity of the matched filter for embedded systems, we propose a new matched filter algorithm with fast computation in three points of view. Second, we propose an accurate ultrasonic localization system which consists of three ultrasonic receivers on the mobile robot and two or more transmitters on the ceiling. Last, we add an extended Kalman filter to estimate position and orientation. Various simulations and experimental results show the effectiveness of the proposed system.

Keywords

References

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