Paper Info
Title
Autonomous navigation of indoor mobile robots using a global ultrasonic system
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 increases significantly with time and distance, the autonomous navigation system of a mobile robot requires self-localization capability in order to compensate for trajectory error. The global ultrasonic system, consisting of four ultrasonic generators fixed at a priori known positions in the work space and two receivers mounted on the mobile robot, has a similar structure to the well-known satellite GPS(Global Positioning System), which is used for the localization of ground vehicles. The EKF (Extended Kalman Filter) algorithm is utilized for self-localization and autonomous navigation, based on the self-localization algorithm is verified by experiments performed in this study. Since the self-localization algorithm is efficient and fast, it is appropriate for an embedded controller of a mobile robot.
Year
DOI
Venue
2004
10.1017/S0263574704000335
Robotica
Keywords
DocType
Volume
indoor mobile robot,self-localization capability,self-localization algorithm,autonomous navigation system,mobile robot,autonomous navigation,global ultrasonic system,ultrasonic generator,dead-reckoning navigation,trajectory error
Journal
22
Issue
ISSN
Citations 
4
0263-5747
11
PageRank 
References 
Authors
1.38
5
2
Name
Order
Citations
PageRank
Soo-Yeong Yi1306.92
Byoung-Wook Choi2173.92