Position estimation of mobile robots based on coded infrared signal transmission

Author

Eren, Halit ; Fung, Chun Che

Author_Institution

Sch. of Electr. & Comput. Eng., Curtin Univ. of Technol., Bentley, WA, Australia

Volume

46

Issue

6

fYear

1997

fDate

12/1/1997 12:00:00 AM

Firstpage

1280

Lastpage

1283

Abstract

A system based on coded infrared signal transmission for the estimation of position of mobile robots in a structured environment is reported. Particular emphasis is placed on the polar coordinate arrangement in which signals are sent from the transmitters situated at the corners of the boundaries of operation. A multisensor system, strategically situated onboard the robot, has been found to improve the accuracy of the position estimation substantially. The information detected by the sensors is suitably processed to calculate the central position of the robot geometrically. The algorithms for the position calculations and the operational strategy are presented. This system forms the basis for the coordination and cooperation philosophy of multiple mobile robots sharing the same environment and performing cooperative or competitive tasks

Keywords

infrared detectors; mobile robots; parameter estimation; position measurement; robot vision; central position; coded infrared signal transmission; multiple mobile robots; multisensor system; polar coordinate arrangement; position estimation; structured environment; Infrared detectors; Infrared sensors; Machine vision; Mobile communication; Mobile robots; Multisensor systems; Optical receivers; Robot kinematics; Robot sensing systems; Transmitters;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/19.668273

Filename

668273