Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic Sensors Article Swipe
Weiyi Mu
,
Guangpeng Zhang
,
Yumei Huang
,
Xingang Yang
,
Hongyan Liu
,
Wen Yan
·
YOU?
·
· 2016
· Open Access
·
· DOI: https://doi.org/10.3390/s16122189
YOU?
·
· 2016
· Open Access
·
· DOI: https://doi.org/10.3390/s16122189
Improved ranging accuracy is obtained by the development of a novel ultrasonic sensor ranging algorithm, unlike the conventional ranging algorithm, which considers the divergence angle and the incidence angle of the ultrasonic sensor synchronously. An ultrasonic sensor scanning method is developed based on this algorithm for the recognition of an inclined plate and to obtain the localization of the ultrasonic sensor relative to the inclined plate reference frame. The ultrasonic sensor scanning method is then leveraged for the omni-directional localization of a mobile robot, where the ultrasonic sensors are installed on a mobile robot and follow the spin of the robot, the inclined plate is recognized and the position and posture of the robot are acquired with respect to the coordinate system of the inclined plate, realizing the localization of the robot. Finally, the localization method is implemented into an omni-directional scanning localization experiment with the independently researched and developed mobile robot. Localization accuracies of up to ±3.33 mm for the front, up to ±6.21 for the lateral and up to ±0.20° for the posture are obtained, verifying the correctness and effectiveness of the proposed localization method.
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- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/s16122189
- https://www.mdpi.com/1424-8220/16/12/2189/pdf?version=1482226332
- OA Status
- gold
- Cited By
- 12
- References
- 23
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2561318980
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2561318980Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.3390/s16122189Digital Object Identifier
- Title
-
Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic SensorsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2016Year of publication
- Publication date
-
2016-12-20Full publication date if available
- Authors
-
Weiyi Mu, Guangpeng Zhang, Yumei Huang, Xingang Yang, Hongyan Liu, Wen YanList of authors in order
- Landing page
-
https://doi.org/10.3390/s16122189Publisher landing page
- PDF URL
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https://www.mdpi.com/1424-8220/16/12/2189/pdf?version=1482226332Direct link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
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https://www.mdpi.com/1424-8220/16/12/2189/pdf?version=1482226332Direct OA link when available
- Concepts
-
Ultrasonic sensor, Ranging, Mobile robot, Robot, Position (finance), Computer vision, Computer science, Artificial intelligence, Acoustics, Engineering, Physics, Finance, Economics, TelecommunicationsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
12Total citation count in OpenAlex
- Citations by year (recent)
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2024: 2, 2023: 1, 2021: 1, 2020: 1, 2019: 2Per-year citation counts (last 5 years)
- References (count)
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23Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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