Relative positioning of mobile robots using ultrasounds

Author

Bisson, Jonathan ; Michaud, Francois ; Letourneau, Dominic

Author_Institution

Dept. of Electr. Eng. & Comput. Eng., Sherbrooke Univ., Que., Canada

Volume

2

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

1783

Abstract

For robots to move in formation or to make them cooperate for distributed sensing of an area, they need to be able to discriminate their position relative to each other. Instead of using an absolute positioning approach, we have developed a relative positioning device that allows to perceive the distance and the angle of other nearby devices. The system is based on time-of-flight evaluation of ultrasonic waves and a RF communication link. The approach is validated using two Pioneer 2 robots in a leader-follower configuration.

Keywords

collision avoidance; mobile robots; radio links; sensors; ultrasonic devices; ultrasonic waves; RF communication link; distance detection; leader-follower configuration; mobile robots; relative positioning; time-of-flight evaluation; ultrasonic receivers; ultrasonic transmitter; ultrasounds; Intelligent robots; Laboratories; Mobile computing; Mobile robots; Radio frequency; Robot kinematics; Robot sensing systems; Robot vision systems; Transmitters; Ultrasonic imaging;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1248902

Filename

1248902