Ultrasound-based Navigation for Mobile Robots

摘要

This thesis presents an implementation of a positioning and navigation system for a mobile robot using ultrasonic pulses and passive sensors that are part of a sensor network. The system uses the Telos Tmote Sky sensor-boards running Contiki. In addition to the Tmote Sky the mobile robot consists of a number of processors and is equipped with position encoders for the wheels in order to be able to accurately estimate the position using dead-reckoning. It is also equipped with an ultrasound transmitter. The sensor nodes are equipped with ultrasound receivers.