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

Abstract

Due to travel restrictions after the CoVid-19 pandemic, the dates have been postponed to a later time in Summer 2021. A final decision about the format of the symposium is expected by late March.International audienceIn 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