Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2004.10.6.529

Autonomous Navigation of Mobile Robot Using Global Ultrasonic System  

황병훈 (전북대학교 대학원 메카트로닉스공학과)
이수영 (전북대학교 전자정보공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.6, 2004 , pp. 529-536 More about this Journal
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.
Keywords
autonomous navigation; global ultrasonic system; radio frequency module; extended kalman filter;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 J. Ko, W. Kim, and M. Chung, 'A Method of Acoustic Landmark Extraction for Mobile Robot Navigation', IEEE Tr. on Robotics and Automation, vol. 12, no. 6, pp. 478-485, 1996   DOI   ScienceOn
2 J. Leonard and H. Durrant-Whyte, 'Mobile robot localization by tracking geometric beacons', IEEE Tr. on Robotics and Automation, vol. 7, no. 3, pp. 376-382, 1991   DOI   ScienceOn
3 S. Singh and P. Keller, 'Obstacle detection for high speed autonomous navigation', Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2798-2805, 1991   DOI
4 J. Leonard and H. Durrant-Whyte, Directed Sonar sensing for mobile robot navigation, Kluwer Academic Publishers, 1992
5 범희락, 조형석, 'Mobile robot map making using ultrasonic sensor array', 한국자동제어학술회의논문집, pp. 121-122, 1993
6 S. Haihang, G. Muhe, H. Kezhong, 'An integrated GPS/CEPS position estimation system for outdoor mobile robot', Prof. of IEEE Int'l Conf. on Intelligent Processing Systems, pp. 28-31   DOI
7 이수영, 진재호, '전역 초음파 센서 시스템을 이용한 이동 로봇의 자기 위치 추정', 제어자동화시스템공학회 논문집, 제9권, 제2호, pp.145-151, 2003   과학기술학회마을   DOI
8 L.Kleeman, 'Optimal estimation of position and heading for mobile robots using ultrasonic beacons and dead-reckoning', Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2582-2587, 1992
9 Roman Kuc and M. W. Siegel, 'Physically based simulation model for acoustic sensor robot navigation', IEEE Tr. on Pattern Anal. Machine Intell., vol. 9, no. 6, pp.766-777, 1987   DOI   ScienceOn
10 D. Fax, W. Burgard and S. Thrun, 'The dynamic window approach to collision avoidance', IEEE Robotics and Automation Magazine, March, pp. 23-33, 1997   DOI   ScienceOn
11 P. Turenout, G. Honderd and L. Schelven, 'Wall-following control of a Mobile Robot' Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 280-285, 1992   DOI