Salichs. “Global integration of ultrasonic sensors information in mobile robot localization

This paper describes an ultrasonic sensors localization system for autonomous mobile robot navigation in a semi-structured indoor environment. A peripheral ring of 24 ultrasonic sensors is used to obtain the information required for the localization process. The proposed algorithm is based upon an extended Kalman filter, which utilizes matches between observed geometric beacons projections and an a priori map of beacon locations, to correct the position and orientation of the vehicle. The resulting self-localization module has been integrated successfully in a more complicated navigation system. Various experimental results show the effectiveness of the presented algorithm