Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic SensorsReportar como inadecuado


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


Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic Sensors - Descarga este documento en PDF. Documentación en PDF para descargar gratis. Disponible también para leer online.

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

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





Autor: Wei-Yi Mu 1,* , Guang-Peng Zhang 1, Yu-Mei Huang 1, Xin-Gang Yang 1, Hong-Yan Liu 1 and Wen Yan 2

Fuente: http://mdpi.com/



DESCARGAR PDF




Documentos relacionados