Low Cost Ultrasonic Positioning System for Mobile Robots
نویسندگان
چکیده
This paper describes a simple low-cost 2D and 3D positioning system for mobile robots. The system makes use of both ultrasound and radio frequency signals to achieve positional accuracies better than 1% of the tracked volume. Furthermore, we have integrated the positioning system into the simulation tools Player/Stage, in order to combine simulated robots with real robots in a ‘hybrid’ embodied simulation. The paper presents measurements from using the positioning system for both 3D tracking and 3D closed loop control.
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تاریخ انتشار 2007