Comparison of different numerical methods for ultrasonic positioning mobile robot task in an enclosed space
Abstract
Comparison of different numerical methods for ultrasonic positioning mobile robot task in an enclosed space
Incoming article date: 27.04.2016The article describes the solution of the problem of mobile robot ultrasonic positioning in a confined space. The solution of this task is overdue, if necessary, calculate the coordinates of a moving object in an enclosed area of a small size. Most available technology in this case is ultrasonic technology, since it provides sufficient accuracy and more simple to implement. Methods for solving the problem is using a triangulation system, consisting of an object with an ultrasonic emitter and four sensors located at the corners of the permissible area. The mathematical model of the system is a system of nonlinear equations, numerical method can be applied to solve a. The authors compare two numerical methods for solving the ultrasonic positioning tasks: the simplest gradient method and the Levenberg-Marquardt method. The final choice was made in favor of the Levenberg-Marquardt.
Keywords: Ultrasound positioning, mobile robot positioning, numerical method, the simplest gradient method, Levenberg-Marquardt algorithm