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Mobile robot localization using a single rotating sonar and two passive cylindrical beacons

Published online by Cambridge University Press:  09 March 2009

H. R. Beom  and
H. S. Cho
H. R. Beom
Affiliation:
Research & Development Laboratory Gold Star Industrial Systems, CO., Ltd. Anyang (Korea).
H. S. Cho
Affiliation:
Center for Robotics and Automation Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology373–1 Kusong-dongTaejeon305–701 (Korea).
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Summary

This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a fiat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beaconis acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.

Keywords

Mobile robotSonarBeaconLocalization

Information

Type
Articles
Information
Robotica , Volume 13 , Issue 3 , May 1995 , pp. 243 - 252
Copyright
Copyright © Cambridge University Press 1995

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