| Research on ultrasonic ranging localization networks is being pursued for use in cooperative multi-robot systems. Many network topology variants have been developed. However, it is difficult to meaningfully compare them. This is due to the utilization of different terminologies in describing their conceptual design instead of exploiting the popular computer network terms.;Moreover, the proposed network ensures a reasonably high position estimation accuracy. It can be used in either of two modes of operation: The communication-dependent mode which is suitable for tightly coupled tasks, and the communication-independent mode which suits the execution of loosely coupled tasks. This research work presents the topology, methodology of network operation, and computer simulations of the positioning system operation to illustrate its performance.;A prototype proposed localization network is implemented and tested. The experimental results proved the feasibility of the proposed solution and highlighted implementation issues.;In this thesis, a novel round-trip ultrasonic positioning network is developed for indoor environments. The proposed technique keeps the overall hardware cost at minimum as the synchronization between the ultrasonic transceivers does not use real time RF burst signals for ranging system time of flight coordination. |
