Positioning system for indoor vehicle using odometry, ultrasonic sensor and environment map: Ultrasonic sensor simulator for landmark identification

Yasushi Hada, Shin'ichi Yuta

Research output: Contribution to journalArticle

1 Citation (Scopus)


This paper proposes a positioning system for indoor vehicles, which uses an odometry, ultrasonic sensors and an environment map. The system cancels the accumulating error in odometry using the range data to the wall or edge landmarks measured by ultrasonic sensor. This method requires only a simple hardware, however, it is necessary to find the correspondence between the real sensor datum and a landmark in the environment map. At first this paper describes the outline of the previous works on indoor positioning systems, and then proposes a new structure of a practical positioning system. This structure uses an ultrasonic sensor simulator to solve this correspondence problem. Finally this paper shows our experimental system on our mobile robot, and results, which show the effectiveness of this method.

Original languageEnglish
Pages (from-to)2278-2285
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number8
Publication statusPublished - 2002 Aug 1



  • Environment Map
  • Indoor Environment
  • Measurement
  • Mobile Robot
  • Most Likelihood Method
  • Position Estimation
  • Sensor
  • Supersonic Wave

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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