Position calculation for mobile robot with ultrasonic system

Abstract

It is more common to find navigation systems that are fundamentally based on dead reckoning. To build robot navigation systems that would allow a mobile robot to navigate in unmodified environments. Localization systems are good solution to get the information of unmodified environments, but these systems are usually expensive to install or to modify after installation, because they require specially prepared environments. This paper proposes that Local Positioning System (LPS) indicates the current position of the mobile robot by using the concept of Global Positioning System (GPS). Since LPS is expected for local propose, therefore three ultrasonic bases are used to determine distance differences. Three ultrasonic devices on ground use to point to the object in space and only one point that is the position of the mobile robot. The positioning program is written to use distance differences from travelling times as inputs of positioning equations. After finished calculation, the answer that is the position of the mobile robot will be shown on PC. Three ultrasonic bases are control by PC station using to calculate the current position. The positioning program is written to use distance differences from travelling times as inputs of positioning equations. After finished calculation, the solution that is the position of the mobile robot will be shown on monitor. © 2010 Pushpa Publishing House.