Ultrasonic autonomous robot localisation system

L. Kleeman

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

19 Citations (Scopus)


This paper describes a reliable localisation system based on ultrasonic sound, that has been designed for an autonomous robot. The robot position and orientation within a 10 meter square room can be obtained to an accuracy of a few centimeters. The system uses cheap, commercially available ultrasonic transmitters placed in the environment at known positions, and receivers on board the robot that monitor incoming pulses. The transmitters send pulses in sequence with a designated first beacon sending an identifying signature. The transmitters and receivers arc not connected electrically, which allows a truly autonomous robot to operate without any communication with the outside world. In t11is paper hardware, algorithmic and software aspects of the system are discussed. A prototype system has been successfully constructed and performs both accurately and reliably even in the presence of obstacles, ultrasonic reflections, noise and air turbulence from air conditioning ducts. The prototype takes a few seconds to produce each result with all calculations performed by an 8 bit microprocessor within the receiver on board the robot.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Number of pages8
Publication statusPublished - 1 Jan 1989
EventIEEE/RSJ International Workshop on Intelligent Robots and Systems 1989 - Tsukuba, Japan
Duration: 4 Sept 19896 Sept 1989
https://ieeexplore.ieee.org/xpl/conhome/5056/proceeding (Proceedings)


ConferenceIEEE/RSJ International Workshop on Intelligent Robots and Systems 1989
Abbreviated titleIROS 1989
Internet address

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