scholarly journals Calibration of ultrasonic sensors of a mobile robot

2009 ◽  
Vol 6 (3) ◽  
pp. 427-437 ◽  
Author(s):  
Ivan Paunovic ◽  
Darko Todorovic ◽  
Miroslav Bozic ◽  
Goran Djordjevic
Keyword(s):  
Signal Processing ◽  
Mobile Robot ◽  
Calibration Procedure ◽  
Ultrasonic Sensor ◽  
Robot Localization ◽  
Ultrasonic Sensors ◽  
Nonlinear Characteristics ◽  
Mobile Robot Localization

The paper discusses a mobile robot localization. Due to cost and simplicity of signal processing, the ultrasonic sensors are very suitable for this application. However, their nonlinear characteristics requires thorough calibrating procedure in order to achieve reliable readings from the obstacles around the robot. Here we describe SMR400 ultrasonic sensor and its calibration procedure. The suggested calibration procedure was tested through a number of experiments, and the results are presented in this paper. .

scholarly journals A Genetic Algorithm for Mobile Robot Localization Using Ultrasonic Sensors

1999 ◽  
Vol 32 (2) ◽  
pp. 8416-8421
Author(s):  
J.M. Armingol ◽  
L.E. Moreno ◽  
A. de la Escalera ◽  
M.A. Salichs
Keyword(s):  
Genetic Algorithm ◽  
Mobile Robot ◽  
Robot Localization ◽  
Ultrasonic Sensors ◽  
Mobile Robot Localization

Mobile robot localization using a single rotating sonar and two passive cylindrical beacons

Robotica ◽  
1995 ◽  
Vol 13 (3) ◽  
pp. 243-252 ◽  
Author(s):  
H. R. Beom ◽  
H. S. Cho
Keyword(s):  
Mobile Robot ◽  
Ultrasonic Sensor ◽  
Robot Localization ◽  
Wide Beam ◽  
Localization Method ◽  
Sonar Sensor ◽  
Mobile Robot Localization ◽  
Heading Angle ◽  
Scan Data ◽  
Different Diameters

SummaryThis paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a fiat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beaconis acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.

3-D Scan Matching for Mobile Robot Localization over Rough Terrain

2019 ◽  
Vol 139 (9) ◽  
pp. 1041-1050
Author(s):  
Hiroyuki Nakagomi ◽  
Yoshihiro Fuse ◽  
Hidehiko Hosaka ◽  
Hironaga Miyamoto ◽  
Takashi Nakamura ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Robot Localization ◽  
Scan Matching ◽  
Mobile Robot Localization

LMI Methods for Extended ℋ∞ Filters for Landmark-based Mobile Robot Localization

2021 ◽  
Author(s):  
Julio Fajardo ◽  
Victor Ferman ◽  
Jabes Guerra ◽  
Antonio Ribas Neto ◽  
Eric Rohmer
Keyword(s):  
Mobile Robot ◽  
Robot Localization ◽  
Mobile Robot Localization
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