Next Article in Journal
A Sum-of-Squares and Semidefinite Programming Approach for Maximum Likelihood DOA Estimation
Next Article in Special Issue
Selection of Shear Horizontal Wave Transducers for Robotic Nondestructive Inspection in Harsh Environments
Previous Article in Journal
Smart Pipe System for a Shipyard 4.0
Previous Article in Special Issue
A Novel Fisheye-Lens-Based Photoacoustic System
Article Menu

Export Article

Open AccessArticle
Sensors 2016, 16(12), 2189; doi:10.3390/s16122189

Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic Sensors

1
Department of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an 710048, China
2
Department of Art and Design, Xi’an University of Technology, Xi’an 710048, China
*
Author to whom correspondence should be addressed.
Academic Editors: Dipen N. Sinha and Cristian Pantea
Received: 28 October 2016 / Revised: 8 December 2016 / Accepted: 14 December 2016 / Published: 20 December 2016
(This article belongs to the Special Issue Ultrasonic Sensors)
View Full-Text   |   Download PDF [5020 KB, uploaded 20 December 2016]   |  

Abstract

Improved ranging accuracy is obtained by the development of a novel ultrasonic sensor ranging algorithm, unlike the conventional ranging algorithm, which considers the divergence angle and the incidence angle of the ultrasonic sensor synchronously. An ultrasonic sensor scanning method is developed based on this algorithm for the recognition of an inclined plate and to obtain the localization of the ultrasonic sensor relative to the inclined plate reference frame. The ultrasonic sensor scanning method is then leveraged for the omni-directional localization of a mobile robot, where the ultrasonic sensors are installed on a mobile robot and follow the spin of the robot, the inclined plate is recognized and the position and posture of the robot are acquired with respect to the coordinate system of the inclined plate, realizing the localization of the robot. Finally, the localization method is implemented into an omni-directional scanning localization experiment with the independently researched and developed mobile robot. Localization accuracies of up to ±3.33 mm for the front, up to ±6.21 for the lateral and up to ±0.20° for the posture are obtained, verifying the correctness and effectiveness of the proposed localization method. View Full-Text
Keywords: ultrasonic sensor; mobile robot; divergence angle and inclined angle; scanning localization; omni-directional localization ultrasonic sensor; mobile robot; divergence angle and inclined angle; scanning localization; omni-directional localization
Figures

Figure 1

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

Mu, W.-Y.; Zhang, G.-P.; Huang, Y.-M.; Yang, X.-G.; Liu, H.-Y.; Yan, W. Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic Sensors. Sensors 2016, 16, 2189.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

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