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An accurate dynamic ultrasonic hybrid localization system is presented for autonomous navigation of indoor mobile robots using multiple ultrasonic distance measurements and an extended Kalman filter (EKF). The ultrasonic sensor subsystem is composed of several ultrasonic transmitters (Txs) attached to the ceiling at known positions and several ultrasonic receivers equilaterally located on the top...
We present an efficient dynamic localization based on EKF (Extended Kalman Filter) for indoor autonomous mobile robots using multiple ultrasonic distance measurements, which is a fundamental technique to perform robots intended navigation tasks without human intervention. We present an EKF-based algorithm with a state/observation vector composed of the robot pose using odometric and ultrasonic distance...
A novel global self localization algorithm is described based on a hybrid method to determine an accurate posture (position and orientation) of mobile robots in our ultrasonic localization system. Our localization system consists of several ultrasonic transmitters fixed at reference positions in global coordinates and a 2D isotropic ultrasonic receiver array composed of receivers on the top of mobile...
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