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Proceedings Paper

Indoor localization and beacon calibration using ultrasonic and radio frequency
Author(s): Jeong-Yong Yoon; Kyoo-Sick Jung; Dong-Hun Shin
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Paper Abstract

Using the ultrasonic and the radio frequency, a method for the robot localization and calibration was presented. The distance between the receiver and a beacon can be computed by using the difference between times of flight. The presented method uses the gradient of the maximum amplitude of the ultrasonic in order to measure the time of flight precisely. The measured three distances between the receiver and the beacon were used to compute the robot position by the direct inverse method and the iterated least square approximation method. This paper defines the calibration as the problem to find the location of 3 beacons and 3 robots, and presents 3 methods for it and found the 2B2R method as the best among them.

Paper Details

Date Published: 2 May 2006
PDF: 6 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423L (2 May 2006); doi: 10.1117/12.664768
Show Author Affiliations
Jeong-Yong Yoon, Univ. of Seoul (South Korea)
Kyoo-Sick Jung, Univ. of Seoul (South Korea)
Dong-Hun Shin, Univ. of Seoul (South Korea)

Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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