Chao CHANG，Yan LI，Jang-myung LEE
(Dept.of Electronic Engineering, Pusan National University，Pusan 609-735，Korea)
Abstract-In this paper, we present a method for localization of a rail autonomous pesticide spraying and sampling robot working in greenhouse using an absolute localization system. Design and implementation of the localization system comes from the usage of beacon systems each of which is composed of an RF single receiver and an ultrasonic transmitter. The RF single receiver gets the synchronization signal from the mobile robot, and the ultrasonic transmitter sends ultrasonic signal, thus the distance from the beacon to the ultrasonic receiver can be measured. The position of a beacon in coordinate system of robot can be calculated according to distance information from the beacons to two ultrasonic receivers which are mounted on the robot. Based on the coordinate transformation, the position of a mobile robot can be calculated from the beacon’s absolute position information in the global coordinate system. Experiments demonstrate the effectiveness of the proposed method in real world applications.
Key words-TDOA；rail robot；absolute localization；active beacon；navigation
Manuscript Number: 1674-8042(2011)03-0288-05
doi: 10.3969/j.issn.1674-8042.2011.03.020
References
[1] Iowa State University GPS page. http:// www. cnde.iastate.edu/gps.html.
[2] Zimmerman, 1997. Experimental Development of an Indoor GPS Based Sensing System for Robotic Applications. Navigation, 43(4): 375-395.
[3] C.Randell, H.Muller, 2006. Low-cost indoor positioning system. Ubiquitous computing. Springer, p.42-48.
[4] S.Y.Yi, B.W.Chow, 2004.Autonomous navigation of indoor mobile robots using a global ultrasonic system. Robotica, p.369-374.
[5] J.M.Yun, S.B.Kim, J.M.Lee, 2006. Robust positioning a mobile robot with active beacon sensors. LNAI 4251, Part I, p.890-897.
[6] S.B.Kim, J.M.Lee, 2007. Precise indoor localization system for a mobile robot using autocalibration algorithm. Korean Robotics Soc, 2: 40-47.
[7] D.E.Manolakis, 1996. Efficient solution and performance analysis of 3-D position estimation by trilateration. IEEE Trans. Aerospace Electron System, 32: 1239-1248.
[8] A.Mahajan，F.Figueroa, 1999. An automatic self-installation and calibration method for a3D position sensing system using ultrasonics. Robotics and Autonomous Systems, 28: 281-294.
[9] Chia-chang Tong，J.F.Figueroa, 2001. A method for short or long range time-of-flight measurements using phase-detection with an analog circuit．IEEE Trans. on Instrumentation and Measurement, 150(5): 1324-1328.
[10] J.M.Martin, A.R.Jimenez, F.Seco, et a1, 2003．Estimating the 3D-position from time delay data of US-waves：experimental analysis and a new processing algorith, Sensors and Actuators，A101: 311-321.
[full text view]
