Abstract
The environment where mobile robots move is modeled as 2-dimensional space. Three ultrasonic receivers are in a line. The transmitters attached to the mobile robots transmit ultrasonic signals which contain different 9bit PR (pseudo-random) codes. The receiver calculates TDOFs (Time Difference of Flight) of each transmitted signals by CCF (Cross Correlation Function). According to TDOFs, the possible position of the mobile robot is represented by hyperbolic curves. The position of the mobile robot is an intersection of hyperbolic curves. The intersection is calculated by bisection method. The external device becomes simple compared to traditional method. The proposed system is verified experimentally.
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© 2011 Springer-Verlag Berlin Heidelberg
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Seo, WJ., Cho, BS., Moon, WS., Baek, KR. (2011). Position Estimation Using Time Difference of Flight of the Multi-coded Ultrasonic. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7101. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25486-4_60
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DOI: https://doi.org/10.1007/978-3-642-25486-4_60
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25485-7
Online ISBN: 978-3-642-25486-4
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