Analysis of Indoor Robot Localization Using Ultrasonic Sensors

Analysis of Indoor Robot Localization Using Ultrasonic Sensors

This paper analyzes the Monte Carlo localization (MCL) method, which estimates the pose of an indoor mobile robot. A mobile robot must know where it is to navigate in an indoor environment. The MCL technique is one of the most influential and popular techniques for estimation of robot position and orientation using a particle filter. For the analysis, we perform experiments in an indoor environ...

Scheduling of Indoor Mobile Robot Using Ultrasonic Sensors

This article proposes the scheduling scheme using ultrasonic beacons in a multi-block workspace. Indoor scheduling schemes using ultrasonic sensors have been widely studied due to their cheap price and high accuracy. However, ultrasonic sensors are susceptible to environmental noises from their propagation characteristics. On account of their decay phenomena when they are transmitted over a lon...

A Genetic Algorithm for Mobile Robot Localization Using Ultrasonic Sensors

A mobile robot requires the perception of its local environment for position estimation. Ultrasonic range data provide a robust description of the local environment for navigation. This article presents an ultrasonic sensor localization system for autonomous mobile robot navigation in an indoor semi-structured environment. The proposed algorithm is based upon an iterative nonlinear filter, whic...

Objects Localization and Differentiation Using Ultrasonic Sensors 521 Objects Localization and Differentiation Using Ultrasonic Sensors

The most crucial problem for the mobile robot navigation is obstacles detection and their localization. The determination of obstacle position should be as accurate as possible in order to support robot self-localization procedures. In order to increase its efficiency the recognition of some feature of obstacles shapes should be done. The most advanced systems use laser range-finder and vision ...

Autonomous Navigation of Indoor Mobile Robot Using Global Ultrasonic System