Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2002.07d
- /
- Pages.2421-2423
- /
- 2002
Global Ultrasonic Sensor System for Self-localization of an Indoor Mobile Robot
실내용 이동 로봇의 자기 위치 추정을 위한 전역 초음파 센서 시스템
- Jin, Jae-Ho (Division of Electronics and Information Engineering Chonbuk National University, Mechatronics Research Center) ;
- Yi, Soo-Yeong (The Research Center of Industrial Technology, Engineering Research Institute, Chonbuk National University)
- Published : 2002.07.10
Abstract
A global ultrasonic sensor system for self-localization of an indoor mobile robot is proposed in this paper. By the global ultrasonic sensor system, it is meant several ultrasonic transmitters fixed at some positions in the world coordinate and the receiver in the moving coordinate of a mobile robot. In order to achieve the synchronization between an ultrasonic transmitter and receiver and to avoid the crosstalk among the ultrasonic transmitters, simple radio frequency transmitters and receivers are adopted. Experiments are carried out to verify the effectiveness of the proposed ultrasonic sensor system.