Robust Bearing Angle Error Estimation for Mobile Robots With a Gimballed Ultrasonic Seeker

Suh, Ui-Suk; Lee, Yunha; Ra, Won‐Sang; Kim, Tae Wook

doi:10.1109/tie.2017.2777411

Cited by 4 publications

(2 citation statements)

References 22 publications

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“…[16]. In addition, the use of the range measurements and the relative UAV position inevitably cause nonlinearity estimation problems, which inherently include initial value sensitivity and poor convergence rate [17]. For these reasons, it is necessary to develop a passive localization system appropriate for the substation inspection UAV.…”

Section: Introductionmentioning

confidence: 99%

Passive IR-UWB Localization System for UAV-Based Electric Facility Inspection During GPS Outage

et al. 2023

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A practical localization system is proposed for a substation inspection unmanned aerial vehicle (UAV) performing its mission under global positioning system (GPS) signal blockage. The sensor hardware consists of a single transmitter and a cruciform receiver array, which produces the range difference (RD) information used for UAV positioning. The use of impulse-radio ultra wide-band (IR-UWB) devices secures the robustness against RF interference often caused by an exogenous electromagnetic field. With this hardware configuration, the UAV localization can be formulated as the state estimation problem for an uncertain linear state space model and be solved by using the computationally efficient robust weighted least squares (RWLS) estimator. Since the standard RWLS estimator could be sensitive to the imperfectness of prior knowledge on the noise statistic, a geometric constraint expressed in terms of a UAV position is exploited to secure the reliable localization performance in practice. Through experimental results, it is verified that the proposed solution provides reliable UAV positioning performance despite using the imperfect measurement noise statistics for the localization system.

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Section: Introductionmentioning

confidence: 99%

Passive IR-UWB Localization System for UAV-Based Electric Facility Inspection During GPS Outage

et al. 2023

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“…Meanwhile, the ultrasonic approach has many advantages such as low cost, and insensitivity to the object material and to light, making it suitable for widespread application in indoor mobile robots. Currently, the ultrasonic sensors used in mobile robots are capable of obstacle avoidance and angle error estimation [ 17 , 18 ], but the successful construction of mapping for an indoor robot by using ultrasonic signals has rarely been reported. Therefore, it is important to investigate new approaches with low cost and acceptable accuracy for environmental mapping.…”

Section: Introductionmentioning

confidence: 99%

Feature Extraction and Mapping Construction for Mobile Robot via Ultrasonic MDP and Fuzzy Model

Long

et al. 2018

Sensors

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This paper presents a modeling approach to feature classification and environment mapping for indoor mobile robotics via a rotary ultrasonic array and fuzzy modeling. To compensate for the distance error detected by the ultrasonic sensor, a novel feature extraction approach termed “minimum distance of point” (MDP) is proposed to determine the accurate distance and location of target objects. A fuzzy model is established to recognize and classify the features of objects such as flat surfaces, corner, and cylinder. An environmental map is constructed for automated robot navigation based on this fuzzy classification, combined with a cluster algorithm and least-squares fitting. Firstly, the platform of the rotary ultrasonic array is established by using four low-cost ultrasonic sensors and a motor. Fundamental measurements, such as the distance of objects at different rotary angles and with different object materials, are carried out. Secondly, the MDP feature extraction algorithm is proposed to extract precise object locations. Compared with the conventional range of constant distance (RCD) method, the MDP method can compensate for errors in feature location and feature matching. With the data clustering algorithm, a range of ultrasonic distances is attained and used as the input dataset. The fuzzy classification model—including rules regarding data fuzzification, reasoning, and defuzzification—is established to effectively recognize and classify the object feature types. Finally, accurate environment mapping of a service robot, based on MDP and fuzzy modeling of the measurements from the ultrasonic array, is demonstrated. Experimentally, our present approach can realize environment mapping for mobile robotics with the advantages of acceptable accuracy and low cost.

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Practical Distance-Based Multi-robot Formation Control Using Low-Cost Ultrasonic Source Tracker

Lee

Suh

Lee

et al. 2023

J. Electr. Eng. Technol.

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Robust Bearing Angle Error Estimation for Mobile Robots With a Gimballed Ultrasonic Seeker

Cited by 4 publications

References 22 publications

Passive IR-UWB Localization System for UAV-Based Electric Facility Inspection During GPS Outage

Passive IR-UWB Localization System for UAV-Based Electric Facility Inspection During GPS Outage

Feature Extraction and Mapping Construction for Mobile Robot via Ultrasonic MDP and Fuzzy Model

Practical Distance-Based Multi-robot Formation Control Using Low-Cost Ultrasonic Source Tracker

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