NDLI: Self-localization with ultrasonic sensor array

Content Provider	IEEE Xplore Digital Library
Author	Ono, Y. Takahashi, R. Takahashi, T. Jeong Song-Hoe Ohno, K. Tadokoro, S.
Copyright Year	2008
Description	Author affiliation: Mech. Eng. Res. Lab., Hitachi, Ltd., Hitachinaka (Ono, Y.)
Abstract	We have developed a positioning system that uses a phased array sensor to measure the distance and direction of multiple landmarks relative to the position of a mobile robot so that the robot can self-localize. The positioning system can control the strength and the width of the beam from the phased array sensor and observe the multiple landmarks at the same time. By using the distance and direction of plural landmarks, our positioning system is able to use various self-localizing methods. A main part of our work has been incorporating our various techniques for making a robot positioning error smaller into a system in which the most suitable self-localizing method is selected on the basis of sensitivity, which is defined as the ratio between localizing and sensor errors. We propose using a set of indices to evaluate the accuracy of self-localizing methods. The indices are derived from the sensitivity. We used these indices to compare the accuracy of three methods for the self-localizing of a mobile robot using landmarks, and we demonstrated a rational way to minimize a localizing error.
Starting Page	1371
Ending Page	1378
File Size	763167
Page Count	8
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4651197
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Arrays Acoustics Ultrasonic variables measurement Robots Robot sensing systems Distance measurement Transmitters
Content Type	Text
Resource Type	Article

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