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http://dx.doi.org/10.5369/JSST.2008.17.1.053

USN based sonar localization system for a fish robot  

Shin, Dae-Jung (BK21 Chonnam National University)
Na, Seung-You (School of Electronics and Computer Engineering, Chonnam National University)
Kim, Jin-Young (BK21 Chonnam National University)
Park, Aa-Ron (BK21 Chonnam National University)
Publication Information
Journal of Sensor Science and Technology / v.17, no.1, 2008 , pp. 53-60 More about this Journal
Abstract
Localization is the most important functions in mobile robots. There are so many approaches to realize this essential function in wheel based mobile robots, but it is not easy to find similar examples in small underwater robots. It is presented the sonar localization system using ubiquitous sensor network for a fish robot in this paper. A fish robot uses GPS and sonar system to find exact localization. Although GPS is essential tool to obtain positional information, this device doesn't provide reasonable resolution in localization. To obtain more precise localization information, we use several Ubiquitous Sensor Networks (USN) motes with sonar system. Experimental results show that a fish robot obtains more detailed positional information.
Keywords
fish robot; sonar localization; USN;
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