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Moving Object Localization Using Sound-Based Positioning System with Doppler Shift Compensation
Graduate School of Agriculture, Kyoto University, Kitashirakawa, Oiwake-cho, Sakyo-ku, Kyoto 606-8502, Japan
System Watt Co., Ltd. 4-1-38, Isobedori, Chuo-ku, Kobe 651-0084, Japan
The New Industry Research Organization (NIRO), 1-5-2, Minatojima-minamimachi, Chuo-ku, Kobe 650-0047, Japan
* Author to whom correspondence should be addressed.
Received: 24 February 2013; in revised form: 26 March 2013 / Accepted: 27 March 2013 / Published: 10 April 2013
Abstract: Sound-based positioning systems are a potential alternative low-cost navigation system. Recently, we developed such an audible sound-based positioning system, based on a spread spectrum approach. It was shown to accurately localize a stationary object. Here, we extend this localization to a moving object by compensating for the Doppler shift associated with the object movement. Numerical simulations and experiments indicate that by compensating for the Doppler shift, the system can accurately determine the position of an object moving along a non-linear path. When the object moved in a circular path with an angular velocity of 0 to 1.3 rad/s, it could be localized to within 25 mm of the actual position. Experiments also showed the proposed system has a high noise tolerance of up to −25 dB signal-to-noise ratio (SNR) without compromising accuracy.
Keywords: Doppler shift; moving object localization; spread spectrum; agricultural robot
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Widodo, S.; Shiigi, T.; Hayashi, N.; Kikuchi, H.; Yanagida, K.; Nakatsuchi, Y.; Ogawa, Y.; Kondo, N. Moving Object Localization Using Sound-Based Positioning System with Doppler Shift Compensation. Robotics 2013, 2, 36-53.
Widodo S, Shiigi T, Hayashi N, Kikuchi H, Yanagida K, Nakatsuchi Y, Ogawa Y, Kondo N. Moving Object Localization Using Sound-Based Positioning System with Doppler Shift Compensation. Robotics. 2013; 2(2):36-53.
Widodo, Slamet; Shiigi, Tomoo; Hayashi, Naoki; Kikuchi, Hideo; Yanagida, Keigo; Nakatsuchi, Yoshiaki; Ogawa, Yuichi; Kondo, Naoshi. 2013. "Moving Object Localization Using Sound-Based Positioning System with Doppler Shift Compensation." Robotics 2, no. 2: 36-53.