Technical Report

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

Peter Alriksson, Karl-Erik Årzén


This report describes the development of an ultrasound based self localization system for mobile robots. The robot navigates using a combination of internal wheel encoders and absolute distance information from a sensor network. The sensor fusion problem is formulated as a non-linear state estimation problem which is approximated using an extended Kalman filter. Using a general state estimation formulation has the advantage that if no information can be provided by the network, due to for example heavy network load, the robot can still navigate using only internal information. The software was developed using a component-based middleware.

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

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