Next Article in Journal
An Improved Flexible Telemetry System to Autonomously Monitor Sub-Bandage Pressure and Wound Moisture
Next Article in Special Issue
Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ)-Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian Navigation
Previous Article in Journal
Face Recognition System for Set-Top Box-Based Intelligent TV
Article Menu

Export Article

Open AccessArticle
Sensors 2014, 14(11), 21750-21769; doi:10.3390/s141121750

Locally-Referenced Ultrasonic – LPS for Localization and Navigation

Electronics Department, University of Alcalá de Henares, Escuela Politécnica. Ctra. Madrid-Barcelona, Km. 33,600, 28871 Alcalá de Henares, Spain
*
Author to whom correspondence should be addressed.
Received: 17 September 2014 / Revised: 15 October 2014 / Accepted: 6 November 2014 / Published: 18 November 2014
(This article belongs to the Special Issue Sensors for Indoor Mapping and Navigation)
View Full-Text   |   Download PDF [1792 KB, uploaded 18 November 2014]   |  

Abstract

This paper presents a flexible deployment of ultrasonic position sensors and a novel positioning algorithm suitable for the navigation of mobile robots (MRs) in extensive indoor environments. Our proposal uses several independently-referenced local positioning systems (LPS), which means that each one of them operates within its own local reference system. In a typical layout, an indoor extensive area can be covered using just a reduced set of globally-referenced LPS (GRLPS), whose beacon positions are known to the global reference system, while the rest of the space can be covered using locally-referenced LPSs (LRLPS) that can be distributed arbitrarily. The number of LRLPS and their position can be also changed at any moment. The algorithm is composed of several Bayesian filters running in parallel, so that when an MR is under the GRLPS coverage area, its position is updated by a global filter, whereas when the MR is inside the LRLPS area, its position is updated using position increments within a local filter. The navigation algorithm has been tested by simulation and with actual data obtained using a real set of ultrasonic LPSs. View Full-Text
Keywords: ultrasonic local positioning systems; globally-referenced LPS; locally-referenced LPS; indoor navigation; mobile robot; data fusion ultrasonic local positioning systems; globally-referenced LPS; locally-referenced LPS; indoor navigation; mobile robot; data fusion
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Gualda, D.; Ureña, J.; García, J.C.; Lindo, A. Locally-Referenced Ultrasonic – LPS for Localization and Navigation. Sensors 2014, 14, 21750-21769.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top