Design of localization system for indoor mobile robots based on ultrasonic net

A localization system for indoor mobile robots using ultrasonic net is presented in this paper. In positioning process, a triangle localization algorithm and an averaging filter method are introduced. After constructing an experimental platform and ultrasonic net, static and dynamic experiments are performed to acquire the accuracy of localization system. Then, positioning experiments for a moving robot are implemented with four different speeds. Integrated with all experiments, causes of positioning error are analyzed. As a result, the system is stable, reliable and easy to realize. It can meet the general requirement of localization for indoor mobile robots.