Abstract
In this article, we propose a localization scheme for a mobile robot based on the distance between the robot and moving objects. This method combines the distance data obtained from ultrasonic sensors in a mobile robot, and estimates the location of the mobile robot and the moving object. The movement of the object is detected by a combination of data and the object’s estimated position. Then, the mobile robot’s location is derived from the a priori known initial state. We use kinematic modeling that represents the movement of a robot and an object. A Kalman-filtering algorithm is used for addressing estimation error and measurement noise. Throughout the computer simulation experiments, the performance is verified. Finally, the results of experiments are presented and discussed. The proposed approach allows a mobile robot to seek its own position in a weakly structured environment.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Mourikis AI, Roumeliotis SI (2006) Performance analysis of multirobot cooperative localization. IEEE Trans Robotics 22:666–681
Lee D, Chung W (2006) Discrete status-based localization for indoor service robots. IEEE Trans Indust Electron 53:1737–1746
Choi BS, Choi HS, Lee JM (2006) A self-localization of a mobile robot in an RFID sensor space. Proceeding of the 11th International Symposium on Artificial Life and Robotics (AROB 11), Beppu, Oita, Japan, Jan. 23–25, 2006, pp 159–164
Se S, Lowe DG, Little JJ (2005) Vision-based global localization and mapping for mobile robots. IEEE Trans Robotics 21:364–375
Thrun S, Burgard W, Fox D (2005) Probabilistic robotics. MIT Press, Cambridge: pp 191–199
Ilan SH (2002) On mobile robot localization from landmark bearings. IEEE Trans Robotics Autom 18:971–976
Golfarelli M, Maio D, Rizzi S (2001) Correction of dead-reckoning errors in map building for mobile robots. IEEE Trans Robotics Autom 17:37–47
Yang T, Aitken V (2006) Evidential mapping for mobile robots with range sensors. IEEE Trans Instrum Measure 55:1422–1429
Kim Y-H, Choi B-S, Lee J-M (2006) Hybrid car navigation system using GPS and dual electric compass (in Korean). J Control Autom Syst Eng 12:106–112
Lee JM, Son K, Lee MC, et al. (2003) Localization of a mobile robot using the image of a moving object. IEEE Trans Indust Electron 50:612–619
Mucientes M, Iglesias R, Regueiro CV, et al. (2001) Fuzzy temporal rules for mobile robot guidance in dynamic environments. IEEE Trans Syst Man Cybern Part C 31:391–398
Qu Z, Wang J, Plaisted CE (2004) A new analytical solution to mobile robot trajectory generation in the presence of moving obstacles. IEEE Trans Robotics 20:978–993
Author information
Authors and Affiliations
Corresponding author
About this article
Cite this article
Choi, BS., Lee, JJ. Localization of a mobile robot based on an ultrasonic sensor using dynamic obstacles. Artif Life Robotics 12, 280–283 (2008). https://doi.org/10.1007/s10015-007-0482-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10015-007-0482-4