Ultrasonic navigation for a wheeled nonholonomic vehicle

A. Curran, K. J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


In this paper, we demonstrate a reliable and robust system for localization of mobile robots in indoors environments which are relatively consistent to a priori known maps. Through the use of an Extended Kalman Filter combining dead-reckoning, ultrasonic, and infrared sensor data, estimation of the position and orientation of the robot is achieved. Based on a thresholding approach, unexpected obstacles can be detected and their motion predicted. Experimental results from implementation on our mobile robot, Nomad-200, are also presented.

Original languageEnglish (US)
Pages (from-to)239-258
Number of pages20
JournalJournal of Intelligent & Robotic Systems
Issue number3
StatePublished - Oct 1995


  • Mobile robot
  • ultrasonic navigation

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


Dive into the research topics of 'Ultrasonic navigation for a wheeled nonholonomic vehicle'. Together they form a unique fingerprint.

Cite this