Local Positioning System of a Mobile Robot : A Practical Perspective

摘要

Localization problem in determining position and orientation of an autonomous robot with respect to a world reference frame is commonly encountered. Personal service robot which has the largest share in the growth of service robot needs a simple and affordable system to overcome this problem. This paper presents an alternative approach to solve localization problem by utilizing local positioning system based on ultrasonic sensors. With this system, 3D information in regards to position and information of a mobile robot can be obtained fast enough to cope with a robot moving with a speed of 30 cm/s. The use of LPS to enhance the performance of control system has been already proven for a mobile robot moving on area with high irregularity surface