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

Abstract

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 the ultrasonic sensor relative to the inclined plate reference frame. The ultrasonic sensor scanning method is then leveraged for the omni-directional localization of a mobile robot, where the ultrasonic sensors are installed on a mobile robot and follow the spin of the robot, the inclined plate is recognized and the position and posture of the robot are acquired with respect to the coordinate system of the inclined plate, realizing the localization of the robot. Finally, the localization method is implemented into an omni-directional scanning localization experiment with the independently researched and developed mobile robot. Localization accuracies of up to ±3.33 mm for the front, up to ±6.21 for the lateral and up to ±0.20° for the posture are obtained, verifying the correctness and effectiveness of the proposed localization method.

Triad system for object's 3D localization using low-resolution 2D ultrasonic sensor array

“…Unlike conventional algorithms, the developed algorithm continuously calculates the relative position of the ultrasonic sensor to enhance the accuracy of the system even in the inclined plate. The proposed system successfully localizes the objects with ± 3.33 mm error in frontal sensors, ± 6.21 mm for lateral sensors and ± 0.20 error for posture [17].…”

Improvement of localization with artificial landmark for mobile manipulator

“…This method can obtain more environmental information so that the precise position can be acquired. To improve localization accuracy of the system, Mu et al 9 presented an ultrasonic sensor scanning method based on a novel ultrasonic sensor ranging algorithm which was developed for the recognition of the inclined plate and obtained the location of the ultrasonic sensor relative to the inclined plate reference frame. Liu et al 10 utilized the multiple sonar sensors by accumulating the sonar data to overcome the sparseness and uncertainty of sensor performance.…”

Transformerless Ultrasonic Ranging System with the Feature of Intrinsic Safety for Explosive Environment

“…Due to the narrow working space in the industrial field, many special function vehicles have hidden hazards in the process of reversing, posing a huge threat to safety production [1]. In order to solve these kinds of problems, the ultrasonic detection technology is thus widely used for monitoring and early warning of safety distances because of its simple structure and fast response [2,3,4,5,6], and could be gradually seen in the potentially explosive atmospheres of gases and vapors.…”