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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Autonomous Navigation of Mobile Robot Using Global Ultrasonic System

전역 초음파 시스템을 이용한 이동 로봇의 자율 주행

  • 황병훈 (전북대학교 대학원 메카트로닉스공학과) ;
  • 이수영 (전북대학교 전자정보공학부)
  • Published : 2004.06.01
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Abstract

Autonomous navigation of an indoor mobile robot using the global ultrasonic system is presented in this paper. Since the trajectory error of the dead-reckoning navigation grows with time and distance, the autonomous navigation of a mobile robot requires to localize the current position of the robot, so that to compensate the trajectory error. The global ultrasonic system consisting of four ultrasonic generators fixed at a priori known positions in the work space and two receivers on the mobile robot has the similar structure with the well-known satellite GPS(Global Positioning System), and it is useful for the self-localization of an indoor mobile robot. The EKF(Extended Kalman Filter) algorithm for the self-localization is proposed and the autonomous navigation based on the self-localization is verified by experiments.

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References

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