Real-time Measurement Model of Indoor Environment Using Ultrasonic Sensor 


Vol. 30,  No. 6, pp. 481-487, Jun.  2005


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  Abstract

In order to increase the autonomous navigation capability of a mobile robot, it is very crucial to develop a method for recognizing a priori known environmental characteristics. This paper proposes an ultrasonic sensor based real-time method for recognizing a priori known indoor environmental characteristics like a wall and corner. The ultrasonic sensor consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter. Unlike previous methods the information obtained from the sensor is processed in real-time by extended Kalman filter to be able to correct the position and orientation of robot with respect to known environmental characteristics.

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  Cite this article

[IEEE Style]

M. h. Lee and W. Cho, "Real-time Measurement Model of Indoor Environment Using Ultrasonic Sensor," The Journal of Korean Institute of Communications and Information Sciences, vol. 30, no. 6, pp. 481-487, 2005. DOI: .

[ACM Style]

Man hee Lee and Whang Cho. 2005. Real-time Measurement Model of Indoor Environment Using Ultrasonic Sensor. The Journal of Korean Institute of Communications and Information Sciences, 30, 6, (2005), 481-487. DOI: .

[KICS Style]

Man hee Lee and Whang Cho, "Real-time Measurement Model of Indoor Environment Using Ultrasonic Sensor," The Journal of Korean Institute of Communications and Information Sciences, vol. 30, no. 6, pp. 481-487, 6. 2005.

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pISSN : 1226 - 4717
eISSN : 2287 - 3880