A modified Cricket method for mobile robots using Zigbee and ultrasonic sensors

In this paper, a wireless localization method using ultrasonic sensors signals, Zigbees, and encoders is proposed. The proposed method avoids any interferences of signals by communicating one transmitter at a time with the help of Zigbee signals. Moreover, the wireless location information is integrated with a relative localization information by encoders using a Kalman filter for more high accurate measurements. The proposed algorithm was implemented on a mobile robot and tested in several scenarios. The experimental results show the improved localization performance of the proposed algorithm, compared with other relative or wireless localization methods.