METHOD FOR CHECKING SELF-LOCALIZATION OF AUTONOMOUS MOBILE ROBOT BY USING ULTRASONIC SENSOR AND PHOTO DETECTOR SENSOR

摘要

PURPOSE: A position checking method of an autonomous mobile robot by using an ultrasonic sensor and a photo detector sensor is provided to prevent errors from slip of the robot wheel or disturbance by calculating the absolute coordinate of the robot and the orientation according to the angle of the wall. CONSTITUTION: To check the self-localization of an autonomous mobile robot by using an ultrasonic sensor and a photo detector sensor, the distance value of the ultrasonic sensor is obtained according to the sampling cycle while moving the autonomous mobile robot. The coordinate of the wall is calculated by using the distance value of the ultrasonic sensor, and the angle of the wall is estimated according to the coordinate of the wall. The coordinate of the wall and the gradient of the wall are calculated by combining the angle of the wall and the orientation of the robot to check the position of the autonomous mobile robot.