Development of an Ultrasound Based Tracking System for Indoor Robot Localization

Open access


This paper focuses on the hardware development of an indoor ultrasound based robot localization system. The problems related to the ultrasound time of flight measurements are presented and solutions are proposed related to the hardware applied for measurements and measurement synchronization. Experimental measurements were performed to analyze the applicability of the developed system and measurement methods.

[1] Park, S., and Hashimoto, S., “Autonomous mobile robot navigation using passive RFID in indoor environment,” IEEE Transactions on Industrial Electronics, vol. 56, no. 7, pp. 2366-2373, July 2009.

[2] Raghavan, A., Ananthapadmanaban, H., Sivamurugan, M., and Ravindran, B., “Accurate mobile robot localization in indoor environments using bluetooth,” in 2010 IEEE International Conference on Robotics and Automation (ICRA), May 2010, pp. 4391 - 4396.

[3] Biswas, J., and Veloso, M., “WiFi localization and navigation for autonomous indoor mobile robots,” in 2010 IEEE International Conference on Robotics and Automation (ICRA), May 2010, pp. 4379-4384.

[4] Kim, D. E., Hwang, K. H., Lee, D. H., Kuc, T. J., A Simple Ultrasonic GPS System for Indoor Mobile Robot System using Kalman Filtering. SICE-ICASE, 2006, pp. 2915-2918.

[5] Zhang, Y., Wu, C., Cheng, L., Chu, H., Localization and Tracking of Indoor Mobile Robot with Ultrasonic and Dead-reckoning Sensors, Journal of Computational Information Systems, 2012, vol. 8, no. 2, pp. 531-539.

[6] Huang, Y. P., Wang, J. S., Huang, K. N., Ho, C. T., Huang, J. D. and Young, M. S., “Envelope pulsed ultrasonic distance measurement system based upon amplitude modulation and phase modulation,” Review of Scientific Instruments, vol. 78, no. 6, 2007.

[7] Vishay, IR Reciever Modules for 3D Synchronization Signals, TSOP35D25.

[8] Prowave, ” Air Ultrasonic Ceramic Transducers”, 400ET080.

MACRo 2015

Proceedings of the 5th International Conference on Recent Achievements in Mechatronics, Automation, Computer Sciences and Robotics

Journal Information


All Time Past Year Past 30 Days
Abstract Views 0 0 0
Full Text Views 72 72 8
PDF Downloads 33 33 4