Relative positioning system using Inter-Robot Ultrasonic Localization Turret

Abstract

This paper focuses on the problem of relative localization system in collaborative environments based on our previous proposed relative localization methodology. We propose a low cost hardware module to achieve a relative positioning system used in research scope to develop some methods, techniques and algorithms in Multi Mobile Autonomous Robotic Systems (2MARS) applications. We discuss about existing hardware modules in literature by showing some constraints. We present some important design aspects of our proposed relative positioning system using the low cost hardware module: InterRobot Ultrasonic Localization Turret (IRULT).

Majority Effect in Cooperative localisation of Mobile Agents using Ranging Measurements

“…either robots or human beings) even when Global Navigation Satellite Systems (GNSS) is not allowed, as typically happens in indoor environments. To mention a few, there are solutions based on laser beams [2], ultrasonic stimuli [3], cameras [4] or even radars [5]. One of the most effective and low cost solutions relies on ranging sensors, which comes using different approaches, such as Received Signal Strength (RSS) measurements and fingerprinting of standard wireless signals (e.g.…”