Ultrasound-Based Indoor Robot Localization Using Ambient Temperature Compensation

This paper focuses on the hardware development of an indoor ultrasound based robot localization system. The problems related to the ultrasound based distance measurements are presented and solutions are proposed related to Time of Flight measurements and measurement synchronization. An optimization based compensation method is introduced to attenuate the effect of the ambient temperature on the distance measurement precision. Experimental measurements were performed to analyze the applicability of the developed system and measurement methods.