A Robust Navigation System for Autonomous Vehicles using Ultrasonics

Abstract 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, airplane and space shuttle assembly plants, nuclear power plants and other hazardous areas. The strengths of the system are accuracy (2.54mm), ease of use, self installation/calibration and fast position update rates (>50Hz). 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