Localization of an Autonomous Mobile Robot Based on Ultrasonic Sensory Information

Authors:
Chia-Ju Wu;Ching-Chih Tsai
Affiliations:
Department of Electrical Engineering, National Yunlin University of Science &/ Technology, Touliu, Yunlin 640, Taiwan, R.O.C./ e-mail: wucj@pine.yuntech.edu.tw;Department of Electrical Engineering, National Chung-Hsing University, Taichung 402, Taiwan, R.O.C.
Venue:
Journal of Intelligent and Robotic Systems
Year:
2001

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Abstract

Based on ultrasonic sensory information, an approach is proposed for localization of autonomous mobile robot (AMRs). In the proposed method, it will be proven that the combination of three ultrasonic transmitters and two receivers can determine both the position and the orientation of an AMR with respect to a reference frame uniquely. In this manner, since only ultrasonic sensors are used, the proposed method will be highly cost-effective and easy to implement. To show the validity and feasibility of the proposed method, the hardware configuration and a series of experiments will be given for illustration.