Indoor Self-Localization of Mobile Robots Using Asynchronous Acoustic Multipath Arrival Time Measurement

We proposed a self-localization method using the ToF of sound waves in a system with delays inside a loudspeaker or a microphone. The proposed method uses the time-of-flight (ToF) of sound waves obtained from acoustic ranging sensors and vehicle speed to estimate self-position. The delay due to the loudspeaker or microphone was used as a state variable to estimate the delay time together with the self-position.