{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:20:44Z","timestamp":1760242844866,"version":"build-2065373602"},"reference-count":23,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2016,12,20]],"date-time":"2016-12-20T00:00:00Z","timestamp":1482192000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Improved ranging accuracy is obtained by the development of a novel ultrasonic sensor ranging algorithm, unlike the conventional ranging algorithm, which considers the divergence angle and the incidence angle of the ultrasonic sensor synchronously. An ultrasonic sensor scanning method is developed based on this algorithm for the recognition of an inclined plate and to obtain the localization of the ultrasonic sensor relative to the inclined plate reference frame. The ultrasonic sensor scanning method is then leveraged for the omni-directional localization of a mobile robot, where the ultrasonic sensors are installed on a mobile robot and follow the spin of the robot, the inclined plate is recognized and the position and posture of the robot are acquired with respect to the coordinate system of the inclined plate, realizing the localization of the robot. Finally, the localization method is implemented into an omni-directional scanning localization experiment with the independently researched and developed mobile robot. Localization accuracies of up to \u00b13.33 mm for the front, up to \u00b16.21 for the lateral and up to \u00b10.20\u00b0 for the posture are obtained, verifying the correctness and effectiveness of the proposed localization method.<\/jats:p>","DOI":"10.3390\/s16122189","type":"journal-article","created":{"date-parts":[[2016,12,23]],"date-time":"2016-12-23T04:09:09Z","timestamp":1482466149000},"page":"2189","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic Sensors"],"prefix":"10.3390","volume":"16","author":[{"given":"Wei-Yi","family":"Mu","sequence":"first","affiliation":[{"name":"Department of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an 710048, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guang-Peng","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an 710048, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu-Mei","family":"Huang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an 710048, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xin-Gang","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an 710048, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hong-Yan","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Precision Instrument Engineering, Xi\u2019an University of Technology, Xi\u2019an 710048, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wen","family":"Yan","sequence":"additional","affiliation":[{"name":"Department of Art and Design, Xi\u2019an University of Technology, Xi\u2019an 710048, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,12,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"520","DOI":"10.1016\/j.robot.2010.01.006","article-title":"Reliable and efficient landmark-based localization for mobile robots","volume":"58","author":"Loevsky","year":"2010","journal-title":"Robot. Auton. Syst."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"920","DOI":"10.1016\/j.robot.2013.04.009","article-title":"A novel efficient algorithm for mobile robot localization","volume":"61","author":"Mirkhani","year":"2013","journal-title":"Robot. Auton. Syst."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"120","DOI":"10.1016\/j.robot.2013.11.006","article-title":"Kullback\u2013leibler divergence-based global localization for mobile robots","volume":"62","author":"Moreno","year":"2014","journal-title":"Robot. Auton. Syst."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1007\/s10514-006-7847-8","article-title":"Detection of doors using a genetic visual fuzzy system for mobile robots","volume":"21","author":"Aguirre","year":"2006","journal-title":"Auton. Robots"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"217","DOI":"10.5772\/53555","article-title":"A special unique solution case of the perspective-three-point problem for external parameter calibration of an omnidirectional camera","volume":"9","author":"Zhu","year":"2012","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Chao, C.T., Chung, M.H., Chiou, J.S., and Wang, C.J. (2016). A simple interface for 3d position estimation of a mobile robot with single camera. Sensors, 16.","DOI":"10.3390\/s16040435"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"5416","DOI":"10.3390\/s110505416","article-title":"Infrared sensor system for mobile-robot positioning in intelligent spaces","volume":"11","author":"Gorostiza","year":"2011","journal-title":"Sensors"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Mi, J., and Yasutake, T. (2016). Design of an hf-band rfid system with multiple readers and passive tags for indoor mobile robot self-localization. Sensors, 16.","DOI":"10.3390\/s16081200"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"11050","DOI":"10.3390\/s150511050","article-title":"Fusing range measurements from ultrasonic beacons and a laser range finder for localization of a mobile robot","volume":"15","author":"Ko","year":"2015","journal-title":"Sensors"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1280","DOI":"10.1007\/s12555-010-0613-x","article-title":"Optimally overlapped ultrasonic sensor ring design for minimal positional uncertainty in obstacle detection","volume":"8","author":"Kim","year":"2010","journal-title":"Int. J. Control Autom. Syst."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"169","DOI":"10.1016\/j.sna.2006.07.006","article-title":"Calibration and interface of a Polaroid ultrasonic sensor for mobile robots","volume":"135","author":"Noykov","year":"2007","journal-title":"Sens. Actuators A Phys."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"372","DOI":"10.1109\/41.499809","article-title":"Environment perception for a mobile robot using double ultrasonic sensors and a CCD camera","volume":"43","author":"Song","year":"1996","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_13","first-page":"2102","article-title":"Experimental study of lateral position based on algebra neural networks information fusion","volume":"19","author":"Ma","year":"2008","journal-title":"China Mech. Eng."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"740","DOI":"10.1109\/70.897785","article-title":"Triangulation-based fusion of sonar data with application in robot pose tracking","volume":"16","author":"Wijk","year":"2001","journal-title":"IEEE Trans. Robot. Autom."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"423","DOI":"10.1109\/TFUZZ.2004.832534","article-title":"Landmark detection in mobile robotics using fuzzy temporal rules","volume":"12","author":"Carinena","year":"2004","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Hwang, K.H., Kim, D.E., Lee, D.H., and Kuc, T.Y. (2006, January 18\u201321). A simple ultrasonic GPS system for indoor mobile robot system using kalman filtering. Proceedings of the 2006 SICE-ICASE International Joint Conference, Busan, Korea.","DOI":"10.1109\/SICE.2006.314996"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"1687","DOI":"10.1109\/TIE.2009.2033093","article-title":"Multifunctional intelligent autonomous parking controllers for carlike mobile robots","volume":"57","author":"Li","year":"2010","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Kim, S., and Kim, H. (2011, January 7\u201310). Optimal ultrasonic sensor ring with beam overlap for high resolution obstacle detection. Proceedings of the IECON 37th Annual Conference on IEEE Industrial Electronics Society, Melbourne, Australia.","DOI":"10.1109\/IECON.2011.6119318"},{"key":"ref_19","unstructured":"Hsu, C.C., Lai, C.Y., Kanamori, C., and Aoyama, H. (2011, January 13\u201318). Localization of mobile robots based on omni-directional ultrasonic sensing. Proceedings of the SICE Annual Conference, Tokyo, Japan."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Lim, J., Lee, S.J., Tewolde, G., and Kwon, J. (2015, January 21\u201323). Indoor localization and navigation for a mobile robot equipped with rotating ultrasonic sensors using a smartphone as the robot\u2019s brain. Proceedings of the 2015 IEEE International Conference on Electro\/Information Technology (EIT), Dekalb, IL, USA.","DOI":"10.1109\/EIT.2015.7293407"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"589","DOI":"10.1007\/s12555-012-0316-6","article-title":"Multi-object identification for mobile robot using ultrasonic sensors","volume":"10","author":"Zhong","year":"2012","journal-title":"Int. J. Control Autom. Syst."},{"key":"ref_22","first-page":"2013","article-title":"Shape recognition and position and posture measurement of an object based on ultrasonic pressure distributions","volume":"130","author":"Ohtani","year":"2010","journal-title":"IEEJ Trans. Electron. Inf. Syst."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"281","DOI":"10.1002\/rob.4620040209","article-title":"Kinematic modeling of wheeled mobile robots","volume":"4","author":"Muir","year":"1987","journal-title":"Robot. Syst."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/12\/2189\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T19:28:56Z","timestamp":1760210936000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/12\/2189"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,12,20]]},"references-count":23,"journal-issue":{"issue":"12","published-online":{"date-parts":[[2016,12]]}},"alternative-id":["s16122189"],"URL":"https:\/\/doi.org\/10.3390\/s16122189","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2016,12,20]]}}}