Development of an Automatic Recharging System for Intelligent Robots Using an Anisotropic Ultrasonic Sensor
نویسندگان
چکیده
It is essential to supply electrical power continuously to mobile robots to keep moving. We studied how to make a mobile robot return to a recharging station autonomously by using specially designed ultrasonic sensors when a battery is low. A principle to calculate location and rotation angle of a mobile robot from recharging station was suggested. An anisotropic ultrasonic sensor system, we call it AniBat, made it possible, because the unique sensors had such a wide horizontal beam directivity ranging from 150 ̊ up to 200 ̊. By only a few sensors, four sensors, an ultrasonic signal could be perceived within 180 ̊ wide-open whole front area of a recharging station and the mobile platform was returned accurately to the station.
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