NDLI: A localization system of a mobile robot by fusing dead-reckoning and ultrasonic measurements

Content Provider	IEEE Xplore Digital Library
Author	Ching-Chih Tsai
Copyright Year	1963
Abstract	This paper introduces a novel hardware system structure and systematic digital signal processing algorithms for the automatic localization of an autonomous mobile robot by merging dead-reckoning and ultrasonic measurements. The multisensorial dead-reckoning (DR) subsystem is based on optimal filtering that merges heading readings from a magnetic compass, a rate-gyroscope, and two encoders mounted on the robot wheels to compute the dead-reckoned location estimate. The novel ultrasonic localization subsystem consists of one ultrasonic transmitter and one radio-frequency (RF) controlled switch mounted at a known location fixed to an inertial frame of reference, four ultrasonic receivers, and one RF controlled switch installed on the mobile robot. Four ultrasonic time-of-flight (TOF) measurements together with the dead-reckoned location information are used to update the vehicle's position by utilizing the extended Kalman filtering (EKF) algorithm. The proposed algorithms are implemented using a host PC 586 computer and standard C++ programming techniques. The system prototype together with the experimental results were used to confirm that the system not only retains high accuracy and magnetic interference immunity, but also provides a simple and practical structure for use and installation/calibration.
Sponsorship	IEEE Instrumentation and Measurement Society Bureau international des poids et mesures IEEE International Bureau of Weights and Measures (BIPM) URSI NBS Agency Ind. Sci. & Technol., Min. Int. Trade & Ind. Sci. Council Japan International Union of Pure and Applied Physics (IUPAP) NIST NRCC National Conference of Standards Laboratories (NCSL) Allen Osborne Associates Andeen-Hagerling, Inc. Ballantine Lab. Inc. Clarke-Hess Communications Research Corp. Fluke Corporation Guildline Instruments Hewlett-Packard Co. Julie Res. Lab. Inc. Keithley Instruments, Inc. Measurements International Ltd. Canada QuadTech Inc. Quantum Design Inc. Rotek Instrum. Corp. Tegam Inc. Tektronix Inc
Starting Page	1399
Ending Page	1404
Page Count	6
File Size	222691
File Format	PDF
ISSN	00189456
Volume Number	47
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-10-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Magnetic separation Switches Signal processing algorithms Radio frequency Ultrasonic variables measurement Filtering Radio control Hardware Digital signal processing
Content Type	Text
Resource Type	Article
Subject	Instrumentation Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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