Single‐object localization using multiple ultrasonic sensors and constrained weighted least‐squares method

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 ...

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...

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...

Weed discrimination using ultrasonic sensors

Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic Sensors

Improved ranging accuracy is obtained by the development of a novel ultrasonic sensor ranging algorithm, unlike the conventional ranging algorithm, which considers the divergence angle and the incidence angle of the ultrasonic sensor synchronously. An ultrasonic sensor scanning method is developed based on this algorithm for the recognition of an inclined plate and to obtain the localization of...