Position estimation of mobile robots based on coded infrared signal transmission

H. Eren; C.C. Fung

doi:10.1109/19.668273

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Position estimation of mobile robots based on coded infrared signal transmission

Journal article

Open access

Peer reviewed

Position estimation of mobile robots based on coded infrared signal transmission

H. Eren and C.C. Fung

IEEE Transactions on Instrumentation and Measurement, Vol.46(6), pp.1280-1283

1997

DOI: https://doi.org/10.1109/19.668273

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Abstract

A system based on coded infrared signal transmission for the estimation of position of mobile robots in a structured environment is reported. Particular emphasis is placed on the polar coordinate arrangement in which signals are sent from the transmitters situated at the corners of the boundaries of operation. A multisensor system, strategically situated onboard the robot, has been found to improve the accuracy of the position estimation substantially. The information detected by the sensors is suitably processed to calculate the central position of the robot geometrically. The algorithms for the position calculations and the operational strategy are presented. This system forms the basis for the coordination and cooperation philosophy of multiple mobile robots sharing the same environment and performing cooperative or competitive tasks.

Details

Title: Position estimation of mobile robots based on coded infrared signal transmission
Authors/Creators: H. Eren (Author/Creator) - Curtin University
C.C. Fung (Author/Creator)
Publication Details: IEEE Transactions on Instrumentation and Measurement, Vol.46(6), pp.1280-1283
Publisher: IEEE
Identifiers: 991005543924807891
Copyright: © 1997 IEEE
Murdoch Affiliation: Murdoch University
Language: English
Resource Type: Journal article

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Citation topics: 4 Electrical Engineering, Electronics & Computer Science; 4.116 Robotics; 4.116.133 Simultaneous Localization and Mapping
Web Of Science research areas: Engineering, Electrical & Electronic; Instruments & Instrumentation
ESI research areas: Engineering