Abstract
A simple localization system for indoor mobile robot navigation using ultrasonic sensors is proposed according to the "RECS"(Robot Environment Compromise System) concept. In this system some ultrasonic receivers are located on the ceiling of the room and one ultrasonic transmitter is attached to the mobile robot. The time-of-flights of the ultrasonic pulses from the transmitter to the receivers are measured and the position of the transmitter, namely the position of the robot, is obtained using the triangulation principle. In this paper we describe the method calculating 3-D coordinates and correcting the delay time of transmitting an ultrasonic pulse
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