Technical Report

A Component-Based Approach to Ultrasonic Self Localization in Sensor Networks

Peter Alriksson, Karl-Erik Årzén


The report describes an ultrasonic-based approach to localization of mobile robots using sensor network technology. The approach is based of a number of sensor network nodes that each calculates its distance to a mobile robot using the difference in time-of-arrival of an ultrasound pulse and a radio packet, and transmits this back to the robot. The robot uses an Extended Kalman filter to fuse together the distance measures from the multiple sensor nodes with encoder signals from the robot wheels. The method has been packaged in a component framework developed within the EU FP6 IP project RUNES.

Technical Report ISRN LUTFD2/TFRT--7619--SE, Department of Automatic Control, Lund University, Sweden, May 2008.

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