The localization of a mobile robot using a pseudol

Authors: Su Yong Kim Kang Sup Yoon Dong Hwal Lee Man Hyung Lee

Publish Date: 2011/04/02

Volume: 9, Issue: 2, Pages: 339-

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Abstract

In this paper an integration system is proposed to improve the positioning performance of a mobile robot by fusing a Pseudolite Ultrasonic System PUS an absolute position measurement system using direct ultrasonic waves with a Dead Reckoning DR odometer As an integration algorithm of the absolute position measurement system and DR two methods are proposed In the loosely coupled method the PUS and the DR calculate the position independently and a Kalman filter estimates the position using position information from the PUS and the DR In the tightly coupled method the PUS provides the distance between the ultrasonic transmitters and receivers without calculating the position directly and the DR provides the translational and rotational displacement of the mobile robot The Kalman filter then estimates the position using information from the PUS and the DR In addition to improve the positioning performance in case the lineofsight LOS between the ultrasonic transmitter and receiver is blocked due to obstacles a positioning failure detection algorithm and reckoning methods are proposed The positioning performances of the proposed PUS/DR integrated systems and the validity of the positioning failure detection algorithm are verified and evaluated by experimentsSu Yong Kim received his BS MS and PhD degrees in mechanical engineering from Pusan National University Busan Korea in 2003 2005 and 2011 respectively His research interests include mobile robot localization and autonomous navigation unmanned vehicle control and ITSKang Sup Yoon was born in Korea in 1963 He received his BS MS and PhD degrees in mechanical engineering from Pusan National University Busan Korea in 1986 1988 and 1997 respectively From Aug 1991 to Aug 1997 he was a Researcher in the Research Institute of Mechanical Technology Pusan National University From Sept 1997 to Feb 2000 he was a Postdoctorial Fellow in the Institute of Industrial Science Tokyo University Tokyo Japan He has been with the School of Mechanical and Automotive Engineering Daegu University Daegu Korea since Apr 2000 His current research interests include ITS mechatronics robotics and predictive controlDong Hwal Lee received his BS MS and PhD degrees from the Department of Mechanical Engineering Pusan National University Korea in 1984 1986 and 2008 respectively From 1988 to 1999 he was a senior research engineer in the department of automated inspection and measuring equipment systems of the production line at LG Electronics company Changwon Korea He developed the High Resolution Localization System USAT™ in 2003 He also founded a manufacturing company called KoreaLPS and is currently representative of the company From 2005 to 2008 he was located in Korea working with several public places such as city halls museums and airports to develop more advanced indoor localization systems Among these localization systems a system to guide service robots at Incheon International Airport is an example of his success His current interests include high resolution ultrasonic indoor localization systems roaming by ultrasound and the propagation of largescale localization infrastructuresMan Hyung Lee was born in Korea in 1946 He received his BS and MS degrees in Electrical Engineering from Pusan National University Busan Korea in 1969 and 1971 respectively and his PhD degree in Electrical and Computer Engineering from Oregon State University Corvallis in 1983 From 1971 to 1974 he was an Instructor with the Department of Electronics Engineering Korea Military Academy Seoul From 1974 to 1978 he was an Assistant Professor in the Department of Mechanical Engineering Pusan National University From 1978 to 1983 he held positions as a Teaching Assistant Research Assistant and Postdoctoral Fellow with Oregon State University Since 1983 he has been a Professor in the College of Engineering Pusan National University where he was a Pohang Iron and Steel Co Pohang Korea POSCO Chair Professor in the School of Mechanical Engineering from 1997 to 2003 and was Dean of the College of Engineering from March 2002 to February 2004 He is the author of more than 750 technical papers His research interests include estimation identification stochastic processes bilinear systems mechatronics micromachine automation and robotics Dr Lee was Program Chair of the 1998 4th ICASE Annual Conference General Cochairman of the 2001 IEEE International Symposium on Industrial Electronics ISIE and is a General Cochairman of The 30th Annual Conference of the IEEE Industrial Electronics Society IECON’ 04 He is a member of the American Society of Mechanical Engineers the Society for Industrial and Applied Mathematics and the Society of PhotoOptical Instrumentation Engineers

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