A Robust Navigation System for Autonomous Vehicles using Ultrasonics
A navigation system has been developed for the guidance and control of autonomously guided vehicles using a novel ultrasonic 3D location system in conjunction with traditional ultrasonic rangefinders. This system is most suitable for navigation in structured environments, e.g., factories, hospitals, offices, nuclear power plans and other hazardous areas. The strengths of the system are accuracy (2.54mm), ease of use, self installation/calibration, and fast position update rates (>100Hz). A method for automatic modifications of maps has been implemented. An object-oriented approach has been used to develop a system that is robust and flexible.
Control Engineering Practice
Figueroa, F. and Mahajan, Ajay, "A Robust Navigation System for Autonomous Vehicles using Ultrasonics" (1994). Mechanical Engineering Faculty Research. 436.