使用定位beaconsfor被动的导航系统.docVIP

Passive Navigation System Using Fixed Position Beacons for Domestic Applications M.H. POLATOGLOU and O.R. HINTON Department of Electrical Electronic and Computing Engineering University of Newcastle upon Tyne NE1 7RU Newcastle upon Tyne UNITED KINGDOM Abstract: Mobile robots are very interesting in a host of applications, including domestic and industrial ones. One of the key issues is the determination of their position in a complex and noisy environment. In the present work we deal with the design and prototype construction of an efficient fixed-position beacon positioning system. This system is capable of calculating its position using ultrasonic sound-waves, and has a very good accuracy for domestic home and office applications. The power consumption and computational power requirements are minimal due to the use of appropriate electronics and algorithms, thus our solution is also an energy efficient one. Key-Words: robotics, positioning system, triangulation – trilateration, path finding. 1 Introduction Robot positioning, or the process of a robot finding its position in the environment, is a major concern in mobile robot navigation. This process is furthermore crucial in domestic or industrial robots since most of the robot’s operations are related to its position. This position must be acquired easily and repeatedly. Over the past years many methods of positioning and navigation were formed and applied based every time on the kind of the application. However two are the basic ways of positioning: relative and absolute positioning. Relative positioning is usually based on dead reckoning i.e. monitoring wheel revolutions to compute the offset from a known starting position. Absolute positioning relies on navigation beacons, active or passive, landmarks, map matching, or satellite based navigation signals [1]. Absolute positioning is also divided in triangulation and trilateration. In triangulation, position is calculated by measuring the angles