Positioning with Ultra Sonic Sensors: Review of Techniques and Presentation of a New System

摘要

Positioning with Ultra Sonic Sensors: Review of Techniques and Presentation of a New System Jean-Luc Salagnac, Benoit Vinot, Dominique Pujol, Pages 253-260 (1990 Proceedings of the 7th ISARC, Bristol, United Kingdom, ISSN 2413-5844) Abstract: Ultra-sonic sensors are very popular in laboratories caryying out work about mobile robot. This good reputationcomes from attractive low prices of sensors and from a rather simple implementation. CSTB also used this technique to position the SOFFITO robot (first experimental mobile robot for building construction sites in Europe developed jointly with IIRIAM and AID). From this experience, we concluded to thenecessity of improvingthe positioning system which consisted of a belt of24 ultrasonic sensors and required a particular coating of partition walls to work in good conditions. After reviewing the uses of ultrasonic sensors mounted ion two rotating vertical axises. The aim of such a system is to ensure distance measurement to the walls, when the ultra-sonic beams are normal to the walls. From the measurements of two distances and of the angles of the sensors relatively to the mobile, the position is known. This paper presents a review of previously developed systema and gives details about the design of the new system. Keywords: Mobile robot, positioning system, sensors, ultra-sound, building, construction DOI: https://doi.org/10.22260/ISARC1990/0033 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley