International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Analysis of Indoor Robot Localization Using Ultrasonic Sensors

  • Naveed, Sairah (Department of Control and Instrumentation Engineering, Chosun University) ;
  • Ko, Nak Yong (Department of Control, Instrumentation and Robotic Engineering, Chosun University)
  • Received : 2014.02.21
  • Accepted : 2014.03.19
  • Published : 2014.03.25
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Abstract

This paper analyzes the Monte Carlo localization (MCL) method, which estimates the pose of an indoor mobile robot. A mobile robot must know where it is to navigate in an indoor environment. The MCL technique is one of the most influential and popular techniques for estimation of robot position and orientation using a particle filter. For the analysis, we perform experiments in an indoor environment with a differential drive robot and ultrasonic range sensor system. The analysis uses MATLAB for implementation of the MCL and investigates the effects of the control parameters on the MCL performance. The control parameters are the uncertainty of the motion model of the mobile robot and the noise level of the measurement model of the range sensor.

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References

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