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JRM Vol.26 No.2 pp. 245-252
doi: 10.20965/jrm.2014.p0245
(2014)

Paper:

Precision Improvement of Position Measurement Using Two Ultrasonic Land Markers

Katsuhiko Tabata*,**, Toshiaki Iwai**, Shigeki Kudomi*,
Yoshimichi Endo*, and Yoshifumi Nishida***

*Gifu Prefectural Research Institute of Information Technology, 1-21 Technoplaza, Kakamigahara City, Gifu 509-0109, Japan

**Research Institute of Technology, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan

***Digital Human Research Center (DHRC), National Institute of Advanced Industrial Science and Technology (AIST), 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan

Received:
September 20, 2013
Accepted:
January 6, 2014
Published:
April 20, 2014
Keywords:
ultrasonic sensor, phased array, positioning system, automated guided vehicles, indoor GPS
Abstract

We have been developing a position measurement system for navigation of automated guided vehicles (AGVs) called SPARS. In this system, the AGV’s ultrasonic position measurement module communicates via ultrasonic waves with ultrasonic transponders that serve as land markers on a path to measure its relative position during travel. In previous studies, we conducted experiments and introduced improvements using the relative position between the AGV and land marker estimated from position information from a single land marker. It was found, however, that the ultrasonic communication S/N ratio decreases, lowering position accuracy, when the land marker distance and its direction angle are great. To solve this problem and improve accuracy, we examine position measurement based on distance information from two land markers.

Cite this article as:
K. Tabata, T. Iwai, S. Kudomi, <. Endo, and Y. Nishida, “Precision Improvement of Position Measurement Using Two Ultrasonic Land Markers,” J. Robot. Mechatron., Vol.26, No.2, pp. 245-252, 2014.
Data files:
References
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Last updated on Nov. 15, 2018