Ultrasonic positioning of a mobile robot using single external beacon

Yenilmez L., Terneltas H.

International Conference on Sensing, Computing and Automation, Chongqing, China, 8 - 11 May 2006, pp.2837-2841 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Chongqing
  • Country: China
  • Page Numbers: pp.2837-2841
  • Istanbul Technical University Affiliated: No


This paper introduces three methods for exact determination of the local positioning of a mobile robot inside any working environment in a way that is independent of assumptions about previous movement. This approach uses only one beacon, one electronic gyroscope and an ultrasonic ring that is attached to our laboratory mobile robot. The ultrasonic ring consists of an array of sixteen echo ranging sensors to catch the external ultrasonic beacons. The orientation is obtained very accurately from an electronic gyroscope that has a direction dependent sensor. The position is established by the one ultrasonic position referencing beacon and ultrasonic ring that is attached on the mobile robot. The beacon is fixed at an appropriate location in the surrounding, and our mobile robot knows the price position of this beacon. As the mobile robot moves it utilizes ultrasonic ring to measure its exact distance from the ultrasonic beacon. Hence the mobile robot can calculate its own precise position in the surroundings.