This work presents the development and
implementation of an acoustic sensor network mainly proposed
for relative positioning of mobile robots and autonomous
modules. The system consists of several objects to be located, each
one of them with an acoustic sensor node. Every node has the
required technology in order to compute its position, by using
only acoustic emissions as ranging mechanism; this reduces the
complexity in the hardware to be implemented. Direct Sequence
Code Division Multiple Access (DS-CDMA) techniques are used
to allow simultaneous emission from several objects, so spatial
relations among objects can be measured in a shorter time. Using
the data collected by the proposed ranging mechanism, a relative
positioning algorithm is computed with the aim of obtaining the
positions among objects.
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