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In this paper, a loosely coupled integration system is proposed for improving the positioning performance of a mobile robot by fusing the Pseudolite Ultrasonic System (PUS), which is an absolute position measurement system using direct ultrasonic wave, with the odometer of Dead-Reckoning (DR). The PUS and the DR calculate position independently and a Kalman filter estimates the position using position...
The localization of mobile robot is an important part of control problem. Pseudolite Ultrasonic System (PUS) is the method to find an absolute position by using ultrasonic sensor. PUS can be able to estimate the position of mobile robot precisely, in which errors are not accumulated. PUS insure a high accuracy on static state. But mobile robot moves as fast as an estimated position errors are increased...
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