Digital signal processing in ultrasonic based navigation system for mobile robots

Abstract

Abstract.A system for estimating the coordinates of automated guided vehicles (AGV) was presented in this article. Ultrasonic waves for distance measurement were applied. Used hardware was characterised, as well as signal processing algorithms. The system was tested on wheeled mobile robot in model 2D environment. The results of working range and errors of position estimation were discussed.

Study of eco-driving possibilities in passenger car used in urban traffic

“…There are many scientific publications in the literature about the impact of transport on the natural environment [9,12,33], including the limitation of climate change [4,36,55]. Despite many advanced works on mechatronics systems [10,49] and autonomous vehicles all over the world [35,44], people still make transportation decisions on a global scale. Among all the elements of the transport system, man has the greatest ability to adapt to changing current traffic requirements.…”

Influence of Mobile Robot Control Algorithms on the Process of Avoiding Obstacles

“…For infrared light based systems, reflective stickers are used, while radio systems use, for example, RFID stickers. In the case of ultrasonic waves, it is necessary to use a special microphone and ultrasound transmitters as markers [13]. Then, the route is determined by detecting a specific marker and choosing an alternative route.…”

“…This approach prevents correct detection in the event of a sudden appearance of the object. More advanced systems are equipped with CCD cameras, Global Navigation Satellite System (GNSS) and image sensors based on CMOS technology [13]. Ultrasound sensors have found the greatest application due to their low cost and availability on the market.…”

Development of control algorithm of mobile robot movement

“…Система оцінки координат автоматизованих керованих транспортних засобів обговорюється в роботі [5]. Для вимірювання відстані застосовували ультразвукові хвилі.…”