Paper Info
Title
Self-localization with ultrasonic sensor array
Abstract
We have developed a positioning system that uses a phased array sensor to measure the distance and direction of multiple landmarks relative to the position of a mobile robot so that the robot can self-localize. The positioning system can control the strength and the width of the beam from the phased array sensor and observe the multiple landmarks at the same time. By using the distance and direction of plural landmarks, our positioning system is able to use various self-localizing methods. A main part of our work has been incorporating our various techniques for making a robot positioning error smaller into a system in which the most suitable self-localizing method is selected on the basis of sensitivity, which is defined as the ratio between localizing and sensor errors. We propose using a set of indices to evaluate the accuracy of self-localizing methods. The indices are derived from the sensitivity. We used these indices to compare the accuracy of three methods for the self-localizing of a mobile robot using landmarks, and we demonstrated a rational way to minimize a localizing error.
Year
DOI
Venue
2008
10.1109/IROS.2008.4651197
Nice
Keywords
Field
DocType
mobile robots,position control,sensor arrays,ultrasonic transducers,mobile robot,phased array sensor,positioning system,robot positioning error,self-localization,ultrasonic sensor array
Ultrasonic sensor,Distance measurement,Computer vision,Self localization,Computer science,Phased array,Control engineering,Artificial intelligence,Robot,Mobile robot,Positioning system
Conference
ISBN
Citations 
PageRank 
978-1-4244-2057-5
0
0.34
References 
Authors
3
6
Name
Order
Citations
PageRank
Yukihiko Ono101.01
Ryosuke Takahashi200.34
Takayuki Takahashi3578.49
Jeong Song-hoe400.34
Kazunori Ohno526440.48
Satoshi Tadokoro61014177.55