Absolute-orientation sensor for mobile robotics

摘要

Vehicle heading acquires special interest when the callenge is an accurate control over the trajectory. In this line, we present an orientation system applied on mobile robot control. The system consists of an ultransonic trasmitter at well-known position and a sensor head, composed by an array of eight receivers, on board the vehicle. The measurement of the phase between the received signals combined with the position of the robot allows us to calculate the orientation of the sensory head and therfore the orinentation of the vehicle relative to the static transmitters.