Localization using infrared beacons

Robotica ◽  
2000 ◽  
Vol 18 (2) ◽  
pp. 153-161 ◽  
Author(s):  
Eric Brassart ◽  
Claude Pegard ◽  
Mustapha Mouaddib
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Processing Time ◽  
Ccd Camera ◽  
Localization System ◽  
Triangulation Method ◽  
Time Calibration ◽  
Improve Accuracy ◽  
Position And Orientation

In this paper, we deal with a localization system allowing one to determine the position and orientation of a mobile robot. This system uses active beacons distributed at the ceiling of the navigation area. These beacons can transmit a coded infrared signal which allows the robots to identify the sender. A CCD camera associated to an infrared receiver allows one to compute the position with a triangulation method which needs reduced processing time. Calibration and correcting distortion stages are performed to improve accuracy in the determination of the position. Dynamic localisation is established for most actual mobile robots used in indoor areas.

HOLONOMIC AND OMNIDIRECTIONAL LOCOMOTION SYSTEMS FOR WHEELED MOBILE ROBOTS: A REVIEW

2015 ◽  
Vol 77 (28) ◽  
Author(s):  
M. Juhairi Aziz Safar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Degrees Of Freedom ◽  
Wheeled Mobile Robot ◽  
Arbitrary Direction ◽  
Current Position ◽  
Wheeled Mobile Robots ◽  
Future Improvement ◽  
Position And Orientation ◽  
Three Degrees Of Freedom

Holonomic and omnidirectional locomotion systems are best known for their capability to maneuver at any arbitrary direction regardless of their current position and orientation with a three degrees of freedom mobility. This paper summarizes the advancement of holonomic and omnidirectional locomotion systems for wheeled mobile robot applications and discuss the issues and challenges for future improvement.

scholarly journals Localization System for Indoor Mobile Robot Using Large Square-Shaped Reflective Marker

2021 ◽  
Vol 15 (2) ◽  
pp. 182-190
Author(s):  
Hiroaki Seki ◽  
Ken Kawai ◽  
Masatoshi Hikizu ◽  
◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robot Navigation ◽  
Prototype System ◽  
Localization System ◽  
Indoor Mobile Robot ◽  
Four Corners ◽  
Fisheye Camera ◽  
Position And Orientation ◽  
Marker Detection ◽  
Measurable Range

A localization system using reflective markers and a fisheye camera with blinking infrared lights is useful and safe for mobile robot navigation in an environment with coexisting humans and robots; however, it has the problems of low robustness and a small measurable range for marker detection. A large, square-shaped reflective marker, with solid and dotted edges, is proposed for more reliable localization of indoor mobile robots. It can be easily detected using Hough transform and is robust for occlusion. The coordinates of the four corners of the square-shaped marker determine the robot’s localization. Infrared lighting with a new LED arrangement is designed for a wide measurable range via brightness simulation, including the effect of observation and reflection angles. A prototype system was developed, enabling the 2D position and orientation to be detected with an accuracy of 60 mm and 3◦, respectively, within a 4 m2 area.

INDOOR LOCALIZATION OF AN OMNI-DIRECTIONAL WHEELED MOBILE ROBOT

2013 ◽  
Vol 37 (4) ◽  
pp. 1043-1056 ◽  
Author(s):  
Sasha Ginzburg ◽  
Scott Nokleby
Keyword(s):  
Mobile Robot ◽  
Indoor Environment ◽  
Indoor Localization ◽  
Wheeled Mobile Robot ◽  
Fusion Algorithm ◽  
Distance Measurements ◽  
Localization System ◽  
Relative Localization ◽  
Position And Orientation ◽  
Improved Performance

This paper presents a localization system developed for estimating the pose, i.e., position and orientation, of an omni-directional wheeled mobile robot operating in indoor structured environments. The developed system uses a combination of relative and absolute localization methods for pose estimation. Odometry serves as the relative localization method providing pose estimates through the integration of measurements obtained from shaft encoders on the robot’s drive motors. Absolute localization is achieved with a novel GPS-like system that performs localization of active beacons mounted on the mobile robot based on distance measurements to receivers fixed at known positions in the robot’s indoor workspace. A simple data fusion algorithm is used in the localization system to combine the pose estimates from the two localization methods and achieve improved performance. Experimental results demonstrating the performance of the developed system at localizing the omni-directional robot in an indoor environment are presented.

Localization and Control System of Mobile Robot Based on Wireless Sensor Network

2009 ◽  
Vol 16-19 ◽  
pp. 1133-1137
Author(s):  
Li Xin Guo ◽  
Qiu Ye Huang ◽  
Hua Long Xie ◽  
Jin Li Li ◽  
Zhao Wen Wang
Keyword(s):  
Wireless Sensor Network ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Sensor Network ◽  
Static Condition ◽  
Wireless Sensor ◽  
Mobile Object ◽  
Wireless Localization ◽  
Localization System ◽  
And Control

The localization of mobile robots is one of important problems for navigation of mobile robots. The wireless sensor network, i.e., Cricket wireless localization technology, was used to obtain motive condition of mobile objects in this study. The information transmission between the Cricket localization system and mobile robot system was achieved for localization, navigation and control of the mobile object. The errors of localization sampling data of the Cricket localization system vary within 3cm in a static condition. The Cricket localization system can meet the navigation requirement of the mobile robots.

Experimental investigation for better relative localization of a mobile robot using Taguchi method

Robotica ◽  
2014 ◽  
Vol 33 (7) ◽  
pp. 1415-1423
Author(s):  
T. Mathavaraj Ravikumar ◽  
R. Saravanan
Keyword(s):  
Mathematical Model ◽  
Taguchi Method ◽  
Mobile Robot ◽  
Mobile Robotics ◽  
Kinematic Parameters ◽  
Absolute Position ◽  
Relative Localization ◽  
Wheeled Robot ◽  
Position And Orientation

SUMMARYThe positioning of a wheeled robot is an imperative manipulation problem in mobile robotics. Odometry is a familiar method for determining the relative position of a mobile robot. It comprises the detection of a set of kinematic parameters that permit reconstructing the robot's absolute position and orientation starting from the wheels' encoder measurements. This paper deals with the determination of better relative localization of a mobile robot by means of odometry by considering the influence of parameters namely total weight, speed, diameter of wheel, and width of wheel. Experiments have been conducted based on L9 orthogonal array suggested in Taguchi method to obtain the optimum condition. A mathematical model has also been developed for the mobile robot with the help of MINITAB software.

scholarly journals Navigation Based on Vision and DGPS Information for Mobile Robots

1999 ◽  
Vol 11 (1) ◽  
pp. 45-53 ◽  
Author(s):  
Shinji Kotani ◽  
◽  
Ken’ichi Kaneko ◽  
Tatsuya Shinoda ◽  
Hideo Mori ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Navigation System ◽  
Vision System ◽  
Dead Reckoning ◽  
Initial Position ◽  
Map Matching ◽  
Autonomous Mobile Robot ◽  
Environmental Model ◽  
Position And Orientation

This paper describes a navigation system for an autonomous mobile robot in outdoors. The robot uses vision to detect landmarks and DGPS information to determine its initial position and orientation. The vision system detects landmarks in the environment by referring to an environmental model. As the robot moves, it calculates its position by conventional dead reckoning, and matches landmarks to the environmental model to reduce error in position calculation. The robot's initial position and orientation are calculated from coordinates of the first and second locations acquired by DGPS. Subsequent orientations and positions are derived by map matching. We implemented the system on a mobile robot, Harunobu 6. Experiments in real environments verified the effectiveness of our proposed navigation.

Developing a Self-Localization System for Mobile Robot Using Ultrasonic Sensor Mesh

2016 ◽  
Vol 852 ◽  
pp. 812-818
Author(s):  
Rajneesh Deka ◽  
G. Kalaiarasan ◽  
R. Jegadeeshwaran
Keyword(s):  
Mobile Robot ◽  
Ultrasonic Sensor ◽  
Error Threshold ◽  
Localization System ◽  
Best Value ◽  
Indoor Mobile Robot ◽  
Simple Error ◽  
Position And Orientation

A hybrid self-localization system for indoor mobile robot is proposed which is used to get the pose (position and orientation) of the mobile robot within the ultrasonic mesh area while avoiding the drift caused by the odometry system of the robot. This localization system consist of three subsystem-odometry, IMU and ultrasonic mesh. The IMU system is fitted within the robot chassis. The ultrasonic mesh is made by fixing various ultrasonic trans-receivers along two lines parallel to the x-axis at known locations. The IMU system is used to get the heading of the robot and the ultrasonic mesh is used to get the position of the robot, however the odometry system gives both position and orientation of the robot. A simple error threshold based algorithm is used to select the best value of robot pose from the sub-systems.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

Determination of lethality and processing time in a continuous sterilization system containing particulates

1990 ◽  
Vol 11 (1) ◽  
pp. 67-92 ◽  
Author(s):  
Jun Ho Lee ◽  
Rakesh K. Singh ◽  
John W. Larkin
Keyword(s):  
Processing Time
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