{"title":"基于单超声波传感器对的室内自主移动机器人定位方法","authors":"Mingrui Lv, Yunfeng Gao, Lu Zhou, Guanglei Huo","doi":"10.1109/ICINFA.2013.6720401","DOIUrl":null,"url":null,"abstract":"This paper presents an approach utilizing asynchronous time-of-flight (ATOF) measurements for autonomous mobile robots (AMRs) to be able to localize itself in indoor environments, using a single ultrasonic sensor pair which comprises an ultrasonic transmitter and an ultrasonic receiver. A circular localization scheme will be described. A state estimation model based on double-layer Kalman filter (DLKF) is developed to fuse the data calculated from ATOF and that from the Dead-Reckoning (DR) localization. A computer simulation experiment has been conducted to verify the efficiency of the proposed localization scheme.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Positioning approach for indoor autonomous mobile robot using a single ultrasonic sensor pair\",\"authors\":\"Mingrui Lv, Yunfeng Gao, Lu Zhou, Guanglei Huo\",\"doi\":\"10.1109/ICINFA.2013.6720401\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents an approach utilizing asynchronous time-of-flight (ATOF) measurements for autonomous mobile robots (AMRs) to be able to localize itself in indoor environments, using a single ultrasonic sensor pair which comprises an ultrasonic transmitter and an ultrasonic receiver. A circular localization scheme will be described. A state estimation model based on double-layer Kalman filter (DLKF) is developed to fuse the data calculated from ATOF and that from the Dead-Reckoning (DR) localization. A computer simulation experiment has been conducted to verify the efficiency of the proposed localization scheme.\",\"PeriodicalId\":250844,\"journal\":{\"name\":\"2013 IEEE International Conference on Information and Automation (ICIA)\",\"volume\":\"31 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Information and Automation (ICIA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICINFA.2013.6720401\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Information and Automation (ICIA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICINFA.2013.6720401","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Positioning approach for indoor autonomous mobile robot using a single ultrasonic sensor pair
This paper presents an approach utilizing asynchronous time-of-flight (ATOF) measurements for autonomous mobile robots (AMRs) to be able to localize itself in indoor environments, using a single ultrasonic sensor pair which comprises an ultrasonic transmitter and an ultrasonic receiver. A circular localization scheme will be described. A state estimation model based on double-layer Kalman filter (DLKF) is developed to fuse the data calculated from ATOF and that from the Dead-Reckoning (DR) localization. A computer simulation experiment has been conducted to verify the efficiency of the proposed localization scheme.
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