Study of an Ultrasonic Local Positioning System for Mobile Robot Navigation

摘要

This paper surveys the technology of Ultrasonic Local Positioning System (ULPS) for mobile robot navigation. To synchronize robot with ultrasonic beacons, the technique of Radio Frequency Identification (RFID) is also adopted. A ULPS sensing strategy is proposed for circumstances where electromagnetic sensing is not effective. The ULPS is built with three transmitters mounted on the robot and several ultrasonic beacons attached on the ceiling. One of the transmitters is responsible for chirp sending, and two others for echo receiving. With this bionic configuration and implementation, a series of ULPS tests were carried out in this work. Test results indicate that this strategy works well for mobile robot navigation and certain accuracy can be guaranteed.