A phase-measuring method to obtain distances applied to a robot positioning system

Author

Martin-Gorostiza, E. ; Galilea, J. L Laázaro ; Dominguez, J.M.G. ; Herrera, A. Eguidazu

Author_Institution

Dept. of Electron., Alcala Univ., Madrid, Spain

Volume

2

fYear

2003

fDate

16-19 Sept. 2003

Firstpage

216

Abstract

In this paper a method to measure the relative difference in the phase of two sin-carrier signals traveling from an emitter on board a robot towards two detectors is shown. It is applied to a local positioning system for autonomous robot guidance. The carrier signal is recovered from an ASK signal modulating the carrier with an MLS sequence for other purposes. The method provides a technique based on signal treatment showing high independency against changes in signals amplitude. The analog design developed as well as its features are shown and an alternative digital strategy is proposed as well.

Keywords

amplitude shift keying; distance measurement; mobile robots; optical tracking; phase measurement; position control; position measurement; ASK signal; MLS sequence; autonomous robot guidance; carrier signal; differential method; distance measurement; incremental distance; infrared emission; local positioning system; phase-measuring method; signals amplitude; Amplitude shift keying; Infrared detectors; Intelligent robots; Phase detection; Phase measurement; Signal detection; Signal processing; Time measurement; Ultrasonic imaging; Ultrasonic variables measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies and Factory Automation, 2003. Proceedings. ETFA '03. IEEE Conference

Print_ISBN

0-7803-7937-3

Type

conf

DOI

10.1109/ETFA.2003.1248702

Filename

1248702