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.
Highlights
The types of sensors used in the localization of mobile robots include laser sensors [1,2,3], visional sensors [4,5,6], infrared sensors [7], RFID (Radio Frequency Identification Devices) [8] and ultrasonic sensors [9,10], which compared with other sensors is the most robust and low-cost distance detection device [11]
Kim and Kim [10] put forward a dual-ultrasonic sensor overlapping area distance detection method, which effectively decreased the influence of the divergence angle on the ranging accuracy of ultrasonic
The novel ranging algorithm of an ultrasonic sensor is established by simultaneously considering both the divergence angle and the incidence angle, which improved the accuracy of the measurement of the ultrasonic sensor
Summary
The types of sensors used in the localization of mobile robots include laser sensors [1,2,3], visional sensors [4,5,6], infrared sensors [7], RFID (Radio Frequency Identification Devices) [8] and ultrasonic sensors [9,10], which compared with other sensors is the most robust and low-cost distance detection device [11]. The distance accuracy of the ultrasonic sensor may be limited by failure to consider the divergence angle and the incidence angle, which refers to the angle between the cross-section of the ultrasonic sensor and the plane of the object being detected. Kim and Kim [10] put forward a dual-ultrasonic sensor overlapping area distance detection method, which effectively decreased the influence of the divergence angle on the ranging accuracy of ultrasonic. Proposed a localization method based on the omni-directional ultrasonic sensor, which included a mobile robot carrying an omni-directional ultrasonic device as a transmitter and several ultrasonic sensors located at the vertices of a square environment serving as receivers. Previous studies to reduce the effects of the divergence angle and the incident angle of ultrasonic sensors for the localization of a mobile robot have mainly focused on filtering or compensation methods.
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