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.
|Title of host publication||IEEE International Conference on Intelligent Robots and Systems|
|Number of pages||8|
|Publication status||Published - 1 Jan 1989|
|Event||1989 IEEE/RSJ International Workshop on Intelligent Robots and Systems, IROS 1989 - Tsukuba, Japan|
Duration: 4 Sep 1989 → 6 Sep 1989
|Conference||1989 IEEE/RSJ International Workshop on Intelligent Robots and Systems, IROS 1989|
|Period||4/09/89 → 6/09/89|