The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Location Estimation and Navigation of Mobile Robots using Wireless Sensor Network and Ultrasonic Sensors

무선 센서 네트워크와 초음파 센서를 이용한 이동로봇의 위치 인식과 주행

  • 천창희 (청운대 공대 인터넷학과) ;
  • 박종진 (청운대 공대 인터넷학과)
  • Received : 2010.03.02
  • Accepted : 2010.07.23
  • Published : 2010.09.01
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Abstract

In this paper we use wireless sensor network and ultrasonic sensors to estimate local position of mobile robots, and to navigate it. Ultra sonic sensor is simple and accurate so it is good to use in local estimation and navigation of mobile robots. But to obtain accurate distance of two sensors they need to face each others as possible as they can. To solve this problem we rotate ultra sonic sensor which is attached to robot in 360 degrees and obtain accurate distance. We can estimate precise position of mobile robot by triangulation using obtained distance information. A mobile robot navigates using embedded encoder and compensates its coordinates by ultrasonic sensors. Results of Experiments show proposed method obtains accurate distance between sensors and coordinates of position of robot. And mobile robots can navigate designated path well.

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References

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