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http://dx.doi.org/10.13067/JKIECS.2011.6.5.775

Improved Localization Algorithm for Ultrasonic Satellite System  

Yoon, Kang-Sup (대구대학교 기계자동차공학부)
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.6, no.5, 2011 , pp. 775-781 More about this Journal
Abstract
For the measurement of absolute position of mobile robot in indoor environments, the ultrasonic positioning systems using ultrasound have been researched for several years. Most of these ultrasonic positioning systems to avoid interference between the ultrasound are used for sequential transmitting. However, due to the use of sequential transmitting, the positions of transmitter to receive an ultrasound will change when the mobile robot moves. Therefore the accuracy of positioning is reduced. In this paper, the new position estimation algorithm with weighting factor according to the time of receipt is proposed. By applying the proposed algorithm to existing Ultrasonic Satellite System(USAT), the improved USAT is configured. The positioning performance of the improved USAT with the proposed position estimation algorithm are verified by experiments.
Keywords
Mobile Robot; Absolute Position Measurement; Ultrasonic Satellite System; Position Estimation Algorithm;
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Times Cited By KSCI : 3  (Citation Analysis)
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