| Summary: | 碩士 === 淡江大學 === 電機工程學系碩士班 === 100 === In this thesis, a localization method based on an omni-directional ultrasonic sensing is proposed for an indoor mobile robot to achieve an effective localization. There are two parts in this thesis: (1) Design and implementation of an omni-directional ultrasonic sensors, and (2) Design and implementation of a localization method based on the omni-directional ultrasonic sensing. In the design and implementation of a localization method based on the omni-directional ultrasonic sensing, two approaches based on trigonometric and circular derivation are considered to determine the localization the mobile robot. To evaluate the performance the proposed system, an experimental platform is established, including a mobile robot with an omni-directional ultrasonic sensor, several ultrasonic receivers, and a remote computer. Each ultrasonic sensor communicates with each other by using the Zig-Bee module to transmit instructions and data. Each ultrasonic receiver receives the ultrasonic signal transmitted by the ultrasonic transmitter. By using the TOF (Time-Of-Flight) of the ultrasonic signal, the distance between the receiver and the robot can be calculated. Based on the distance information collected from all the ultrasonic receivers, trigonometric coordinate calculation and circular coordinate calculation are applied to obtain the position coordinates of the mobile robot. From the experimental results, we know that all the measurement errors of two proposed methods are smaller than the diameter of the mobile robot. Therefore the proposed methods can be used to effectively localize the indoor mobile robots.
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