A Position Measurement System for a Small Autonomous Mobile Robot

We report a robust position measurement system for a small autonomous mobile robot. The system uses three line laser projectors above the robot, and the laser projectors moves on three linear stages. Position sensitive detectors (PSDs) are used as photodetectors. The PSDs are carried on the small robot. The position of the robot is calculated by the positions of the line laser projectors. We also propose a robust position measurement method. The method uses two current laser positions and three past laser positions. These positions are used to estimate a current robot position. In the experiment, a reference xy0 stage is used instead of the mobile robot. The position experimentally obtained is evaluated using the position of the reference stage.