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Real-time Measurement Model of Indoor Environment Using Ultrasonic Sensor  

Lee Man hee (광운대학교 제어계측공학과 메카트로닉스 연구실)
Cho Whang (광운대학교 제어계측공학과 메카트로닉스 연구실)
Publication Information
The Journal of Korean Institute of Communications and Information Sciences / v.30, no.6A, 2005 , pp. 481-487 More about this Journal
Abstract
In order to increase the autonomous navigation capability of a mobile robot, it is very crucial to develop a method for recognizing a priori known environmental characteristics. This paper proposes an ultrasonic sensor based real-time method for recognizing a priori known indoor environmental characteristics like a wall and corner. The ultrasonic sensor consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter. Unlike previous methods the information obtained from the sensor is processed in real-time by extended Kalman filter to be able to correct the position and orientation of robot with respect to known environmental characteristics.
Keywords
autonomous mobile robot; Indoor navigation; localization; stereo ultrasonic sensor; extended Kalman filter;
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  • Reference
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