| Summary: | 碩士 === 國立雲林科技大學 === 電機工程技術研究所 === 87 === An approach is proposed in this thesis for self-localization of an autonomous guided vehicle (AGV) based on ultrasonic sensory information only. It will be shown that an ultrasonic transmitter cannot determine the position and the orientation of the AGV simultaneously regardless of the number of the ultrasonic receivers. This explains why an electronic compass is used to determine the orientation of the AGV in most of the previous works. However, if three transmitters and two receivers are used, then it is shown that the position and the orientation of the AGV can be determined uniquely. Since ultrasonic sensors are used instead of the electronic compass, the proposed mechanism will be efficient in cost than the previous techniques. To show the validity and feasibility of the proposed method, experimental results will be given for illustration.
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