A localization system of a mobile robot by fusing dead-reckoning and ultrasonic measurements

摘要: This paper develops a novel system hardware structure and systematic digital signal processing algorithms for self-localization of an autonomous mobile robot by fusing dead-reckoning ultrasonic measurements. The multisensorial (DR) subsystem is established based on the optimal filtering first heading readings from magnetic compass, rate-gyroscope two encoders mounted wheels, thereby computing dead-reckoned location estimate. localization consists one transmitter radio-frequency (RF) controlled switch known fixed to inertial frame reference, four receivers RF installed robot. Four Time-of-Flight (TOF) measurements together with information are fused update vehicle's position utilizing extended Kalman (EKF) algorithm. proposed implemented using host PC 586 computer standard C++ programming techniques. A built prototype its experimental results used confirm that not only retains strengths high accuracy interferencing immunity, but also provides simple practical use installation calibration.