Burns, A;
Paoletti, P;
Fichera, S;
(2019)
A Low Cost Ultrasound-based Localisation System for Ground Robotics.
Sensors & Transducers
, 238
(11)
pp. 21-30.
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Abstract
This paper presents a low-cost localisation system based on ultrasonic sensing and time of flight measurements. A compact ultrasound emitter has been designed to generate an omnidirectional train of ultrasound pulses which are then picked up by several fixed receivers measuring the time difference of arrival. A least squares approach is used to analytically obtain a first estimate of the emitter position, which is then refined through steepest descent optimisation. All processing is done via a standard Arduino platform, proving the low computational demands of the method. Localisation results are validated against a state-of-the-art Optitrack motion capture system. It is shown that the system can cover a 4.3×3.1 m arena with a mean error localisation error of 1.57 cm and an average standard deviation of 1.39 cm throughout the arena. The effectiveness of the proposed localization system is demonstrated by integrating it with a mobile ground robot to enable waypointbased path following.
| Type: | Article |
|---|---|
| Title: | A Low Cost Ultrasound-based Localisation System for Ground Robotics |
| Location: | Spain |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | http://www.sensorsportal.com/HTML/DIGEST/P_3130.ht... |
| Language: | English |
| Additional information: | This work is licensed under a Creative Commons Attribution 4.0 International License. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in the credit line; if the material is not included under the Creative Commons license, users will need to obtain permission from the license holder to reproduce the material. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/ |
| Keywords: | Localisation, Ultrasound, Time difference of arrival, Positioning, Ground robots. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10091457 |
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