Simple Ultrasonic-Based Localization System for Mobile Robots

Author:

Sukop Marek1ORCID,Grytsiv Maksym1ORCID,Jánoš Rudolf1ORCID,Semjon Ján1ORCID

Affiliation:

1. Department of Production Technology and Robotics, Faculty of Mechanical Engineering, Technical University of Kosice, Letná 9, 040 01 Kosice, Slovakia

Abstract

This paper presents the development and validation of a cost-efficient and uncomplicated real-time localization system (RTLS) for use in mobile robotics, specifically within indoor and storage environments. By harnessing ultrasonic waves to measure distances from three beacons, the system provides stable and reliable localization. This method utilizes the time-of-flight (TOF) principle, allowing for accurate distance calculations with simple microcontrollers. The system is designed to update the robot’s position at a frequency of at least 10 times per second, ensuring smooth navigation. Our trilateration-based approach allows for the precise determination of the robot’s position with a notable standard deviation accuracy of up to 15 mm. The aim was to design a simple yet sufficiently accurate system and verify its precision through experimental measurements. The experimental results demonstrate the system’s efficacy and lay a solid foundation for advancing this technology. Furthermore, the cost for the components required to build this indoor localization system (ILS) with three beacons and one tag is remarkably low, under EUR 80.

Funder

KEGA

VEGA

Publisher

MDPI AG

Reference35 articles.

1. A Survey of Indoor Localization Systems and Technologies;Zafari;IEEE Commun. Surv. Tutor.,2019

2. Duchoň, F. (2023). Mobile Robots Controlling, FELIA.

3. Grytsiv, M. (2020). Simulation of the Trajectory of a Mobile Robot in Flowcode. [Master’s Thesis, Technical University of Kosice]. Available online: https://opac.crzp.sk/?fn=detailBiblioForm&sid=F5195A1FF5FC8574514BA0DFA517.

4. An Indoor Ultrasonic Positioning System Based on TOA for Internet of Things;Li;Mob. Inf. Syst.,2016

5. Indoor positioning and wayfinding systems: A survey;Kunhoth;Hum.-Centric Comput. Inf. Sci.,2020

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3