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Vol. 32, No. 8(2), S&M2292

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Sensors and Materials, Volume 34, Number 2(1) (2022)
Copyright(C) MYU K.K.
pp. 453-466
S&M2821 Research Paper of Special Issue
https://doi.org/10.18494/SAM3419
Published in advance: September 16, 2021
Published: February 14, 2022

Omnidirectional Ultrasonic Localization for Mobile Robots [PDF]

Chen-Chien Hsu, Hsin-Chuan Chen, Ching-Chang Wong, and Chien-Yu Lai

(Received April 28, 2021; Accepted September 6, 2021)

Keywords: ultrasonic, omnidirectional sensing, localization, mobile robot, dual-circle localization

To solve the detection angle limitation of conventional ultrasonic sensors, we propose a localization system based on omnidirectional ultrasonic sensing by using a reflection cone to generate ultrasonic beams with 360° propagation. The architecture of the proposed localization system includes four ultrasonic receivers deployed around a square measuring environment and a mobile robot carrying an integrated omnidirectional ultrasonic module as a transmitter. When the ultrasonic receivers receive ultrasonic signals from the integrated omnidirectional ultrasonic module, distance measurements between the transmitter and the receiver can be obtained by time-of-flight calculation, which are sequentially transferred to a remote PC via a Zigbee wireless network. Using the distance measurements collected from the receivers, the coordinates of the mobile robot can be determined by using the established dual-circle localization method. Experimental results have shown satisfactory accuracy in determining the coordinates of the mobile robot via the proposed localization system.

Corresponding author: Hsin-Chuan Chen


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Cite this article
Chen-Chien Hsu, Hsin-Chuan Chen, Ching-Chang Wong, and Chien-Yu Lai, Omnidirectional Ultrasonic Localization for Mobile Robots, Sens. Mater., Vol. 34, No. 2, 2022, p. 453-466.



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