I am trying for some time now to localize in a plane a mobile using ultrasonic time-of-flight (TOF). The mobile carries a circle of US emitters and US receivers are placed at two corners of the plane. Synchronization between US reception and emission is done through RF.
To improve the precision of this localization I would like to use a simple SLAM. For that I will add rotational encoders to the wheels. That is, the idea is to use the US as beacons allowing the "map" construction and the encoders will do the "localization" part.
Does someone has any experience with this type of approach?
I have read:
http://ocw.mit.edu/NR/rdonlyres/Aeronautics-and-Astronautics/16-412JSpring-2005/9D8DB59F-24EC-4B75-BA7A-F0916BAB2440/0/1aslam_blas_repo.pdf
and
http://dspace.nitle.org/bitstream/handle/10090/782/s10csi2007hieberttreuer.pdf?sequence=1
but I am still very far from being able to write a nice java code to do the job!
Help!
Move this topic to software interfacing or hardware interfacing
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