Precision Improvement of Position   Measurement Using Two Ultrasonic Land Markers

Katsuhiko Tabata; Toshiaki Iwai; Shigeki Kudomi; Yoshimichi Endo; Yoshifumi Nishida

doi:10.20965/jrm.2014.p0245

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JRM Vol.26 No.2 pp. 245-252

doi: 10.20965/jrm.2014.p0245

(2014)

Paper:

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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, Y. 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.

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References

[1] K. Tabata, Y. Nishida, Y. Iida, and T. Iwai, “New Navigation System for Automatic Guided Vehicles Using an Ultrasonic Sensor Array,” Trans. of the Society of Instrument and Control Engineers, Vol.48, No.1, pp. 11-19, 2012 (in Japanese).
[2] K. Tabata, T. Iwai, S. Kudomi, Y. Endo, and Y. Nishida, “Ultrasonic Transponder Based on the Long Time Delay,” Trans. of the Society of Instrument and Control Engineers, Vol.49, No.12, pp. 1086-1091, 2013 (in Japanese).
[3] L. Kleeman, “Fast and Accurate Sonar Trackers using Double Pulse Coding,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Kyongju, Korea, pp. 1185-1190, 1999.
[4] D. T. Pham, Z. Ji, and A. Soroka, “Ultrasonic distance scanning techniques for mobile robots,” Proc. of Innovative Production Machines and System Conf., 2009.
[5] A. Yamane, T. Iyoda, Y. Choi, Y. Kubota, and K. Watanabe, “A study on Propagation Characteristics of Spread Spectrum Sound Waves using a Band-limited Ultrasonic Transducer,” J. of Robotics and Mechatronics, Vol.16, No.3, pp. 333-341, 2004.
[6] T. Tanzawa, S. Shiozawa, H. Watanabe, and N. Kiyohiro, “The Wide Range Ultrasonic Range Finder for Outdoor Mobile Robots,” J. of the Robotics Society of Japan, Vol.27, No.5, pp. 583-589, 2009 (in Japanese).
[7] A. Ohya, Y. Nagumo, and M. Takahata, “Intelligent Escort Robot Moving Together with Human – Human Following Behavior –,” 12th Int. Symposium on Measurement and Control in Robotics, 2002.
[8] B.W. Parkinson and J. J. Spilker, “Global Positioning System: Theory and Applications,” American Institute of Aeronautics and Astronautics, Inc., 1996.
[9] A. Nishitani, Y. Nishida, and H. Mizoguchi, “Omnidirectional Ultrasonic Location Sensor,” in Proc. of The 4th IEEE Int. Conf. on Sensors, pp. 684-687, 2005.
[10] M. Hashimoto, T. Tomiie, and F. Oba, “Dead Reckoning of a Modular Omnidirectional Vehicle by Fusing Redundant Odometry and Gyro Information,” The Japan Society of Mechanical Engineers (Part C), Vol.66, No.645, pp. 1613-1620, 2000 (in Japanese).

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] K. Tabata, Y. Nishida, Y. Iida, and T. Iwai, “New Navigation System for Automatic Guided Vehicles Using an Ultrasonic Sensor Array,” Trans. of the Society of Instrument and Control Engineers, Vol.48, No.1, pp. 11-19, 2012 (in Japanese).

[2] [2] K. Tabata, T. Iwai, S. Kudomi, Y. Endo, and Y. Nishida, “Ultrasonic Transponder Based on the Long Time Delay,” Trans. of the Society of Instrument and Control Engineers, Vol.49, No.12, pp. 1086-1091, 2013 (in Japanese).

[3] [3] L. Kleeman, “Fast and Accurate Sonar Trackers using Double Pulse Coding,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Kyongju, Korea, pp. 1185-1190, 1999.

[4] [4] D. T. Pham, Z. Ji, and A. Soroka, “Ultrasonic distance scanning techniques for mobile robots,” Proc. of Innovative Production Machines and System Conf., 2009.

[5] [5] A. Yamane, T. Iyoda, Y. Choi, Y. Kubota, and K. Watanabe, “A study on Propagation Characteristics of Spread Spectrum Sound Waves using a Band-limited Ultrasonic Transducer,” J. of Robotics and Mechatronics, Vol.16, No.3, pp. 333-341, 2004.

[6] [6] T. Tanzawa, S. Shiozawa, H. Watanabe, and N. Kiyohiro, “The Wide Range Ultrasonic Range Finder for Outdoor Mobile Robots,” J. of the Robotics Society of Japan, Vol.27, No.5, pp. 583-589, 2009 (in Japanese).

[7] [7] A. Ohya, Y. Nagumo, and M. Takahata, “Intelligent Escort Robot Moving Together with Human – Human Following Behavior –,” 12th Int. Symposium on Measurement and Control in Robotics, 2002.

[8] [8] B.W. Parkinson and J. J. Spilker, “Global Positioning System: Theory and Applications,” American Institute of Aeronautics and Astronautics, Inc., 1996.

[9] [9] A. Nishitani, Y. Nishida, and H. Mizoguchi, “Omnidirectional Ultrasonic Location Sensor,” in Proc. of The 4th IEEE Int. Conf. on Sensors, pp. 684-687, 2005.

[10] [10] M. Hashimoto, T. Tomiie, and F. Oba, “Dead Reckoning of a Modular Omnidirectional Vehicle by Fusing Redundant Odometry and Gyro Information,” The Japan Society of Mechanical Engineers (Part C), Vol.66, No.645, pp. 1613-1620, 2000 (in Japanese).

Precision Improvement of Position Measurement Using Two Ultrasonic Land Markers

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

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