Scheduling of Indoor Mobile Robot Using Ultrasonic Sensors
نویسندگان
چکیده
This article proposes the scheduling scheme using ultrasonic beacons in a multi-block workspace. Indoor scheduling schemes using ultrasonic sensors have been widely studied due to their cheap price and high accuracy. However, ultrasonic sensors are susceptible to environmental noises from their propagation characteristics. On account of their decay phenomena when they are transmitted over a long distance, ultrasonic sensors are not suitable for application in large indoor environments. To overcome these shortages of ultrasonic sensors while emphasizing their advantages, a multi-block approach has been proposed by dividing the indoor space into several blocks with multiple beacons in each block. This approach, however, is hard to divide into several blocks when beacons are not installed in a certain pattern, and in case of having newly installed beacons, all blocks placement is reconstructed. Therefore, this is a real time localization scheme to estimate the position of mobile robot without effecting beacons placement. Beacon scheduling algorithm has been developed to select the optimal beacons according to robot position and beacon arrangement for the mobile robot navigation. Keywords-Ultrasonic sensors, MWSN, Beacon scheduling algorithm, Collision, Interference
منابع مشابه
Behavior-based mobile robot using active sensor fusion
We present a navigation system using multiple sensors for unknown and dynamic indoor environments. To achieve the robustness and flexibility of the mobile robot, we develop a Behavior-Based system architecture, consisting of multi-layered behaviors using multiple sensors: ultrasonic sensors and a video camera. Basic behaviors required for navigation, such as, avoiding obstacles, moving towards ...
متن کاملMap Building of Unknown Environment Based on Fuzzy Sensor Fusion of Ultrasonic Ranging Data
This paper investigates the use of ranging data collected from ultrasonic sensors mounted on a two-wheeled mobile robot, Pioneer 3-DX, to build an occupancy grid map for an unknown indoor environment based on fuzzy sensor fusion of the ultrasonic ranging data. Because of uncertainties inevitably encountered by using the ultrasonic sensors, a more reliable sensor model is derived to solve the pr...
متن کاملMap-merging in Multi-robot Simultaneous Localization and Mapping Process Using Two Heterogeneous Ground Robots
In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
متن کاملIdentification and distance detection for ultrasonic sensor by correlation method
This paper presents a method for identification and distance detection for ultrasonic sensors of indoor mobile robot by using correlation scheme. The transmitted signal is identified by correlation between known model patterns and the patterned signal from transmitters and this scheme is useful when multiple sensors are involved. Distance detection by correlation is shown to be more accurate th...
متن کاملIndoor Navigation System for Mobile Robot using Wireless Sensor Network
We describe an algorithm for indoor mobile robot navigation using wireless sensor network. In our navigation system, a robot can navigate autonomously without the need for a map, a compass, or GPS. We use only several sensor nodes with ultrasonic sensors. Sensor nodes are deployed in an indoor environment and each sensor node has routing paths to all available destination-nodes through flooding...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2014