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Low-Cost Sonic-Based Indoor Localization for Mobile Robots

Every year, several environmental causes let significant amounts of grain spoil even though it is properly stored in dedicated silos. To reduces the resulting financial losses, engineers have developed a special robot called grainbutler. The robot is supposed to cover the entire area in a systematic way. To this end, a PC-based control software derives the robot’s current position and submitts appropriate control commands. This paper is about the necessary localization system. It is based on (ultra-) sonic acustics, and yields a precision of about 2-4 cm in closed rooms of up to 50 m × 50 m in size at a cost of significantly less than 1000¤ (approximately 1200 USD).