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Conference Papers Year : 2020

Monte-Carlo Localization on Metal Plates Based on Ultrasonic Guided Waves

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1
Othmane-Latif Ouabi
Matthieu Geist
Cedric Pradalier

Abstract

In this work, we propose a method based on a particle filter for the localization of an industrial robot on a large metal structure that leverages first-order reflections of acoustic waves on metal plate's edges. In our approach, the acoustic measurements are acquired in a (pseudo) pulse-echo mode using a co-localized emitter/receiver pair of piezoelectric transducers. The acquisition of data is done manually but it is aimed to be performed by a robot in the future. A known size of the metal plate is assumed.
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Dates and versions

hal-03120508 , version 1 (25-01-2021)

Identifiers

  • HAL Id : hal-03120508 , version 1

Cite

Othmane-Latif Ouabi, Pascal Pomarede, Matthieu Geist, Nico Felicien Declercq, Cedric Pradalier. Monte-Carlo Localization on Metal Plates Based on Ultrasonic Guided Waves. International Symposium on Experimental Robotics, Nov 2020, Malte, Malta. ⟨hal-03120508⟩
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