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Use of infrared landmark zones for mobile robot localization

Use of infrared landmark zones for mobile robot localization Purpose – The purpose of this paper is to present a novel localization scheme using infrared identification (IRID) fused with encoder information. Design/methodology/approach – IRID emitters are mounted on the ceiling in order to divide the floor workspace into sectors. Encoding the IRID signal then allows the mobile robot to identify which sector it is in. The sector information is fused with the dead‐reckoning results for estimation of the robot configuration based on the fact that IRID has highly deterministic characteristics. Findings – Fusing the dead‐reckoning result and the IRID information bounds and in some cases reduces the size of the uncertainty. This enables one to more accurately estimate the robot's configuration. Originality/value – A new artificial landmark, IRID is developed for mobile robot localization. This paper also demonstrates a framework that fuses the IRID information (deterministic) and dead‐reckoning result (stochastic). http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

Use of infrared landmark zones for mobile robot localization

Industrial Robot: An International Journal , Volume 35 (2): 7 – Mar 7, 2008

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References (16)

Publisher
Emerald Publishing
Copyright
Copyright © 2008 Emerald Group Publishing Limited. All rights reserved.
ISSN
0143-991X
DOI
10.1108/01439910810854647
Publisher site
See Article on Publisher Site

Abstract

Purpose – The purpose of this paper is to present a novel localization scheme using infrared identification (IRID) fused with encoder information. Design/methodology/approach – IRID emitters are mounted on the ceiling in order to divide the floor workspace into sectors. Encoding the IRID signal then allows the mobile robot to identify which sector it is in. The sector information is fused with the dead‐reckoning results for estimation of the robot configuration based on the fact that IRID has highly deterministic characteristics. Findings – Fusing the dead‐reckoning result and the IRID information bounds and in some cases reduces the size of the uncertainty. This enables one to more accurately estimate the robot's configuration. Originality/value – A new artificial landmark, IRID is developed for mobile robot localization. This paper also demonstrates a framework that fuses the IRID information (deterministic) and dead‐reckoning result (stochastic).

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: Mar 7, 2008

Keywords: Robotics; Localization; Infra‐red devices; Identification

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