Design and implementation of mobile robot ultrasonic localization system

This paper proposes adopting multiple ultrasonic sensors to localize indoor mobile robot. In order to achieve uttermost coverage and improve the accuracy, we combine three-sensor coverage, two-sensor coverage and single sensor coverage. When the data from sensors cannot determine the location of the robot, the relative coordinates is adopted for localization. This paper firstly gives principles and overall design idea of multiple ultrasonic sensors localization, then details software and hardware designing methods of the system. Finally, it conducts a test in self developed ultrasonic sensor transmit-receive system, and test data shows that this system can complete coverage of the whole room, reducing blind zone of coverage. The accumulated deviation was less than 13cm.