Error Analysis of Position Detection of Mobile Robot Navigated with Ultrasonic Net
Nasu Yasu · 2003
Position detection system using ultrasonic receiver net is employed to navigate mobile robot. It detects position of mobile robot moving in wide area with higher precision, without influence of obstacles on ground, and works even on bad visibility and dirty environmental conditions. These advantages make it very useful for navigating mobile robot in workshop. In this paper, it is exposed by analysis that position detection error results from height error, position error of ultrasonic receivers horizontally, and distance measurement error of ultrasonic wave transmitted. It is subjected to ultrasonic receive angle easily. Mobile robot position is estimated from three horizontal circles. Its position tolerance is depended on separation of intersect points and distributed directions of the three circles. It is verified by experimental results that the proposed error analysis method is effective.