Abstract
This paper proposes a new method to find an absolute position by using ultrasonic sensors. In order to evaluate the performance of U-SAT (Ultrasonic Satellite system), the autonomous navigation performance of a mobile robot is tested. Experiments were performed in both cases that the mobile robot moves to the target point using relative positioning method in conjunction with U-SAT, which is, absolute positioning methods. The performance of U-SAT is evaluated accordingly with the results of the experiments. As a result, U-SAT could be effectively used as a pseudolites or pseudo-satellites to help a mobile robot navigate intelligently and autonomously in an indoor area.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Kim, J.H., Seong, P.H.: Experiments on orientation recovery and steering of autonomous mobile robot using encoded magnetic compass disc. IEEE Transactions on Instrumentation and Measurement 45, 271–274 (1996)
Wijesoma, W.S., Kodagoda, K.R.S., Balasuriya, A.P.: A laser and a camera for mobile robot navigation. In: ICARCV 2002. 7th International Conference on, Control, Automation, Robotics and Vision, pp. 740–745 (2002)
Song, K.T., Tang, W.H.: Environment perception for a mobile robot using double ultrasonic sensors and a CCD camera. IEEE Transactions on, Industrial Electronics 43, 372–379 (1996)
Arai, Y., Sekiai, M.: Absolute position measurement system for mobile robot based on incident angle detection of infrared light. In: IROS 2003. Proceedings. 2003 IEEE/RSJ International Conference on, Intelligent Robots and Systems, vol. 991, pp. 986–991 (2003)
Tsai, C.C.: A localization system of a mobile robot by fusing DR and ultrasonic measurements. IEEE Transactions on, Instrumentation and Measurement 47, 1399–1404 (1998)
Yi, S.Y., Jin, J.H.: Self-localization of a Mobile Robot Using Global Ultrasonic Sensor System. Journal of Control, Automation, and Systems Engineering 9(2), 145–151 (2003)
Lee, D.H., An, H.T., Baek, K.R., Lee, M.H.: A study on resolution Enhancement in the detection of ultrasonic signal. In: The KSAE Annual Fall Conference, Branch of Busan Ulsan Gyeongnam, pp. 95–102 (2003)
Kanayama, Y., Kimura, Y., Miyazaki, F., Noguchi, T.: A stable tracking control method for an autonomous mobile robot. In: Proc. IEEE Int. Conf. Robot and Automation, vol. 1, pp. 384–389 (1990)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 IFIP International Federation for Information Processing
About this paper
Cite this paper
Kim, S.Y., Park, S. (2007). Estimation of Absolute Positioning of Mobile Robot Using U-SAT. In: Li, K., Jesshope, C., Jin, H., Gaudiot, JL. (eds) Network and Parallel Computing. NPC 2007. Lecture Notes in Computer Science, vol 4672. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74784-0_15
Download citation
DOI: https://doi.org/10.1007/978-3-540-74784-0_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74783-3
Online ISBN: 978-3-540-74784-0
eBook Packages: Computer ScienceComputer Science (R0)