Title :
Determining planar location via complement-free de Brujin sequences using discrete optical sensors
Author :
Scheinerman, Edward R.
Author_Institution :
Dept. of Math. Sci., Johns Hopkins Univ., Baltimore, MD, USA
fDate :
12/1/2001 12:00:00 AM
Abstract :
We present a technique for determining the absolute x, y-location of a robot in a workspace. The floor of the workspace is tiled with black and white squares in a pattern based on a variant of a de Bruijn sequence. The black/white pattern on the floor is read by a modest number of inexpensive, discrete optical sensors, and a simple algorithm determines the position of the robot
Keywords :
binary sequences; mobile robots; navigation; path planning; de Bruijn sequence; discrete optical sensors; planar location; robot; workspace; Decoding; Helium; Motion planning; Optical sensors; Painting; Paints; Robot localization; Robot sensing systems; Sensor systems; Sonar;
Journal_Title :
Robotics and Automation, IEEE Transactions on