Title :
Characterization of a trajectory recognition optical sensor for an automated guided vehicle
Author :
Borges, Geovany Araújo ; Lima, Antonio Marcus Nogueira ; Deep, Gurdip Singh
Author_Institution :
Dept. of Electr. Eng., Univ. des Sci. et Tech. du Languedoc, Montpellier, France
fDate :
8/1/2000 12:00:00 AM
Abstract :
Characterization of a relatively simple optical sensor used for recognition of the desired fixed trajectory for an automated guided vehicle, painted on an industrial shop floor, is described. The optical sensor consists of 14 infrared emitter-detector pairs arranged in two columns and is fixed underneath the vehicle chassis. A microcomputer-based test platform for evaluation of the proposed sensor is also described. The sensor performance is evaluated using two geometrical algorithms and one based on neural networks, with the latter giving better results
Keywords :
automatic guided vehicles; backpropagation; image sensors; industrial robots; infrared detectors; materials handling; multilayer perceptrons; path planning; position control; robot vision; IR emitter-detector pairs; IR image sensors; automated guided vehicle; backpropagation; desired fixed trajectory; geometrical algorithms; industrial shop floor; microcomputer-based test platform; mobile robot motion planning; multilayer perceptrons; navigation; neural networks; nonlinear neurons; sensor performance; trajectory control feedback loop; trajectory recognition optical sensor; Character recognition; Global Positioning System; Image sensors; Mobile robots; Navigation; Neural networks; Optical sensors; Remotely operated vehicles; Sensor phenomena and characterization; Sonar;
Journal_Title :
Instrumentation and Measurement, IEEE Transactions on
