Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2005.06a
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- Pages.1040-1044
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- 2005
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- 2005-8446(pISSN)
Robot localization and calibration using Ultrasonic and Ratio Frequency
초음파 및 무선 통신 파를 이용한 자기 위치와 비컨 위치 인식 시스템
Abstract
This paper presents a method for the robot localization and calibration using the ultrasonic and the radio frequency. The distance between the receiver and a beacon can be computed by using the difference between times of flight. The presented method uses the gradient of the maximum amplitude of the ultrasonic in order to measure the time of flight precisely. The measured three distances between the receiver and the beacon are used to compute the robot position by the direct inverse method and the iterated least square approximation method. This paper is defined the calibration as the problem to find the location of 3 beacons and 3 robots, and presents 3 methods for it and found the 2B2R method as the best among them.
Keywords