Global Ultrasonic System for Self-Localization of Mobile Robot
Summary :
This paper focuses on a global ultrasonic system for self-localization of a mobile robot. The global ultrasonic system consists of some ultrasonic generators fixed at some arbitrary position in the global coordinates and two receivers in the moving coordinates of the mobile robot. This system is used to obtain the state vector of the mobile robot in the global coordinates from the distance measurement between the ultrasonic generator and the receiver. In order to avoid the cross-talk and to synchronize the ultrasonic sensors, the sequential cuing technique using small-sized radio frequency module is adopted. An extended Kalman filter algorithm is used to process the noisy ultrasonic signal and to estimate the state vector. Computer simulations and experiments are conducted to verify the effectiveness of the proposed global ultrasonic system.
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- IEICE TRANSACTIONS on Communications Vol.E86-B No.7 pp.2171-2177
- Publication Date
- 2003/07/01
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- PAPER
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- Sensing
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Soo-Yeong YI, "Global Ultrasonic System for Self-Localization of Mobile Robot" in IEICE TRANSACTIONS on Communications,
vol. E86-B, no. 7, pp. 2171-2177, July 2003, doi: .
Abstract: This paper focuses on a global ultrasonic system for self-localization of a mobile robot. The global ultrasonic system consists of some ultrasonic generators fixed at some arbitrary position in the global coordinates and two receivers in the moving coordinates of the mobile robot. This system is used to obtain the state vector of the mobile robot in the global coordinates from the distance measurement between the ultrasonic generator and the receiver. In order to avoid the cross-talk and to synchronize the ultrasonic sensors, the sequential cuing technique using small-sized radio frequency module is adopted. An extended Kalman filter algorithm is used to process the noisy ultrasonic signal and to estimate the state vector. Computer simulations and experiments are conducted to verify the effectiveness of the proposed global ultrasonic system.
URL: https://global.ieice.org/en_transactions/communications/10.1587/e86-b_7_2171/_p
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@ARTICLE{e86-b_7_2171,
author={Soo-Yeong YI, },
journal={IEICE TRANSACTIONS on Communications},
title={Global Ultrasonic System for Self-Localization of Mobile Robot},
year={2003},
volume={E86-B},
number={7},
pages={2171-2177},
abstract={This paper focuses on a global ultrasonic system for self-localization of a mobile robot. The global ultrasonic system consists of some ultrasonic generators fixed at some arbitrary position in the global coordinates and two receivers in the moving coordinates of the mobile robot. This system is used to obtain the state vector of the mobile robot in the global coordinates from the distance measurement between the ultrasonic generator and the receiver. In order to avoid the cross-talk and to synchronize the ultrasonic sensors, the sequential cuing technique using small-sized radio frequency module is adopted. An extended Kalman filter algorithm is used to process the noisy ultrasonic signal and to estimate the state vector. Computer simulations and experiments are conducted to verify the effectiveness of the proposed global ultrasonic system.},
keywords={},
doi={},
ISSN={},
month={July},}
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TY - JOUR
TI - Global Ultrasonic System for Self-Localization of Mobile Robot
T2 - IEICE TRANSACTIONS on Communications
SP - 2171
EP - 2177
AU - Soo-Yeong YI
PY - 2003
DO -
JO - IEICE TRANSACTIONS on Communications
SN -
VL - E86-B
IS - 7
JA - IEICE TRANSACTIONS on Communications
Y1 - July 2003
AB - This paper focuses on a global ultrasonic system for self-localization of a mobile robot. The global ultrasonic system consists of some ultrasonic generators fixed at some arbitrary position in the global coordinates and two receivers in the moving coordinates of the mobile robot. This system is used to obtain the state vector of the mobile robot in the global coordinates from the distance measurement between the ultrasonic generator and the receiver. In order to avoid the cross-talk and to synchronize the ultrasonic sensors, the sequential cuing technique using small-sized radio frequency module is adopted. An extended Kalman filter algorithm is used to process the noisy ultrasonic signal and to estimate the state vector. Computer simulations and experiments are conducted to verify the effectiveness of the proposed global ultrasonic system.
ER -
English
