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http://dx.doi.org/10.5370/KIEE.2010.59.9.1692

Location Estimation and Navigation of Mobile Robots using Wireless Sensor Network and Ultrasonic Sensors  

Chun, Chang-Hee (청운대 공대 인터넷학과)
Park, Jong-Jin (청운대 공대 인터넷학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.59, no.9, 2010 , pp. 1692-1698 More about this Journal
Abstract
In this paper we use wireless sensor network and ultrasonic sensors to estimate local position of mobile robots, and to navigate it. Ultra sonic sensor is simple and accurate so it is good to use in local estimation and navigation of mobile robots. But to obtain accurate distance of two sensors they need to face each others as possible as they can. To solve this problem we rotate ultra sonic sensor which is attached to robot in 360 degrees and obtain accurate distance. We can estimate precise position of mobile robot by triangulation using obtained distance information. A mobile robot navigates using embedded encoder and compensates its coordinates by ultrasonic sensors. Results of Experiments show proposed method obtains accurate distance between sensors and coordinates of position of robot. And mobile robots can navigate designated path well.
Keywords
Wireless sensor network; Ultrasonic sensors; Mobile robots; Location estimation; LEGO mindstorm NXT;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
Times Cited By SCOPUS : 0
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