《A_new_Home_Robot_Positioning_System_(HRPS)_using_IR_switched_multi_ultrasonic_sensors》.pdf

A new Home Robot Positioning System (HRPS) using IR switched multi ultrasonic sensors Saeed Shiry Ghidary, Takahiro Tani, Toshi Takamori, Motofumi Hattori Dept. of computer and systems engineering, Fac. of Engineering, Kobe University, 657-8501, Japan {Shiry, Tani, Takamori, Hattori}@octopus.cs.kobe-u.ac.j p ABSTRACT too complex and expensive for ordinary robotics applications and can not find initial position of the robot by itself. In this paper we propose a very fast measuring system for the The navigating beacon systems employ optical wave or location of a mobile robot in indoor environment. The proposed sound wave. Ultrasonic sensors have been widely used in localization method utilizes ultrasonic and infrared signals positioning systems for robots. These systems may be simultaneously. The transmitter, which is mounted on the divided in two category; one is the area of map building by mobile robot, transmits both ultrasonic and infrared signals at acquiring complete information about the unknown the same time. The receivers, which are located at fix points in environment and the other is the localization of mobile robot the ceiling of the room use the received infrared signal as a by using sensory information about the environment [3]. The trigger to measure the time of flight of ultrasonic signal. The measuring equipment in [4] uses ultrasonic waves to measure location of robot is computed by measuring its distance from location and direction of robot. In th