Yong-hwi KIM, Ui-kyu SONG, Byung-kook KIM
Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 305-701, Korea
Abstract-An accurate low-cost ultrasonic localization system is developed for autonomous mobile robots in indoor environments, which is essen tial for autonomous navigation of mobile robots with various tasks. Although ult rasonic sensors are more cost-effective than other sensors such as Laser Range Finder (LRF) and vision, they share the defects of inaccuracy and directional am biguity. First, we apply the matched filter to measure the distance accurately. For resolving the computational complexity of the matched filter, a new matched filter algorithm with simple computation was proposed. Second, an ultrasonic lo calization system consisting of three ultrasonic receivers and two or more trans mitters for improving position and orientation accuracy was developed. Last, we design an extended Kalman filter to estimate both the static and dynamic positio n and orientation. Various simulations and experimental result show the effectiv eness of the proposed system.
Key words-localization; ultrasonic sensor; matched filt er; extended Kalman filter
Manuscript Number: 1674-8042(2010)01-0065-06
dio: 10.3969/j.issn.1674-8042.2010.01.15
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