Self-localization with ultrasonic sensor array

Yukihiko Ono, Ryosuke Takahashi, Takayuki Takahashi, Song Hoe Jeong, Kazunori Ohno, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We have developed a positioning system that uses a phased array sensor to measure the distance and direction of multiple landmarks relative to the position of a mobile robot so that the robot can self-localize. The positioning system can control the strength and the width of the beam from the phased array sensor and observe the multiple landmarks at the same time. By using the distance and direction of plural landmarks, our positioning system is able to use various self-localizing methods. A main part of our work has been incorporating our various techniques for making a robot positioning error smaller into a system in which the most suitable self-localizing method is selected on the basis of sensitivity, which is defined as the ratio between localizing and sensor errors. We propose using a set of indices to evaluate the accuracy of self-localizing methods. The indices are derived from the sensitivity. We used these indices to compare the accuracy of three methods for the self-localizing of a mobile robot using landmarks, and we demonstrated a rational way to minimize a localizing error.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1371-1378
Number of pages8
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Self-localization with ultrasonic sensor array'. Together they form a unique fingerprint.

Cite this