This paper describes the development of an indoor positioning system, presents the system performance and shows experimental results. The system consists of a transmitter node and several receive nodes, and each node has an ultrasonic sensor and a RF device. The transmitter node is attached to a robot and the receiver nodes are fixed on a ceiling and a floor according to application. It estimates distance between the transmitter node and the receiver nodes. From these distance, we can find the robots position in indoor environment. The data are applied to the kalman filter for robustness. We focus on small size, light weight, non-wire, portable, reasonable accuracy and high response time. To make robust localization system, high response time and accuracy is important than any other things, and there is tradeoff between the response time and accuracy. We find adjustable response time and accuracy to tracking and control robots. So, we apply for tracking and control system as a mobile and an aerial vehicle. Finally, the experimental results for the tracking of a mobile robot and an aerial vehicle robot will be shown.
Development of indoor localization system using ultrasonic sensors
2008
5 Seiten, 12 Bilder, 11 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
Development of Indoor Mobile Robot Navigation System Using Ultrasonic Sensors
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