An Encoded Infrared Sheet of Light Navigational Beacon System for Precise Localization of Indoor Mobile Robot Vehicles

• Autorzy: Kurian J. , Saseendran Pillai P. R.
• Języki publikacji: EN

Abstrakty

EN

A new localization approach to increase the navigational capabilities and object manipulation of autonomous mobile robots, based on an encoded infrared sheet of light beacon system, which provides position errors smaller than 0.02m is presented in this paper. To achieve this minimal position error, a resolution enhancement technique has been developed by utilising an inbuilt odometric/optical flow sensor information. This system respects strong low cost constraints by using an innovative assembly for the digitally encoded infrared transmitter. For better guidance of mobile robot vehicles, an online traffic signalling capability is also incorporated. Other added features are its less computational complexity and online localization capability all these without any estimation uncertainty. The constructional details, experimental results and computational methodologies of the system are also described.

Słowa kluczowe

EN

infrared beacons; position estimation; robot localization; sheet of light beacons

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2009
• Tom: Vol. 3, No. 2
• Strony: 34--41
• Opis fizyczny: Bibliogr. 31 poz., rys.

Twórcy

autor

Kurian J.

autor

Saseendran Pillai P. R.

• Department of Electronics, Cochin University of Science and Technology, Cochin-682022, INDIA. (Phone: [phone]; Fax: [phone]),

Bibliografia

• [1] Siegel M., Gunatilake P., “Remote Inspection Technologies for Aircraft Skin Inspection”,IEEE Workshop on Emergent Technologies and Virtual Systems for Instrumentation and Measurement,Ontario, Canada, May 1997.
• [2] Prassler E., Ritter A., Schaeffer C., Fiorini P., “A Short History of Cleaning Robots”,Autonomous Robots Special Issue on Cleaning and Housekeeping Robots , vol. 9, issue 3, December 2000.
• [3] Iborra A., Pastor J., Alvarez B., Fernandez C., Merono J., “Robots in Radioactive Environments”,IEEE Robotics and Automation Magazine, December 2003.
• [4] Stentz A., Bares J., Singh S., Rowe P., “A Robotic Excavator for Autonomous Truck Loading”,Autonomous Robots vol.7, 1999, pp 175 186.
• [5] Rossetti M. D., Kumar A. and Felder R., "Mobile Robot Simulation of Clinical Laboratory Deliveries". In:The Proceedings of the Winter Simulation Conference
• [6] Montemerlo M., Pineau J., Roy N., Thrun S., Verma V.,“Experiences with a Mobile Robotic Guide for the Elderly”. In:Proceedings of the AAAI National Conference on Artificial Intelligence, Edmonton, Canada, 2002.
• [7] Bahl. R., “Object Classification using Compact Sector Scanning Sonars in Turbid Waters”. In: Proc. 2 IARP Mobile Robots for Subsea Environments, Monterey, vol. 23, 1990, pp 303 327.
• [8] Anthony J. Healey, “Application of Formation Control for Multi-Vehicle Robotic Minesweeping”. In:Proceedings of the IEEE CDC Conference, 2001.
• [9] Everett H.R., Gage D.W., "From Laboratory to Warehouse: Security Robots Meet the Real World",International Journal of Robotics Research Special Issue on Field and Service Robotics, vol. 18, no. 7, July 1999.
• [10] Pastore T.H., Everett H. R., and Bonner K., "Mobile Robots for Outdoor Security Applications". In:American Nuclear Society 8 International Topical Meeting on Robotics and Remote Systems (ANS'99), Pittsburgh, PA, April 1999.
• [11] Borenstein J., Everett H., Feng L., Wehe D., “Mobile Robot Positioning - Sensors and Techniques”,Journal of Robotic Systems Special Issue on Mobile Robots, vol. 14, no. 4, 1997.
• [12] Kleeman L., “Optimal Estimation of position and Heading for Mobile Robots Using Ultrasonic Beacons and Deadreckoning”. In:Proceedings of the IEEE International Conference on Robotics and Automation, Nice, France, 1992.
• [13] Leonard J. J. and Durrant-Whyte H. F., “Mobile Robot Localization by Tracking Geometric Beacons”,IEEE Transactions on Robotics and Automation, vol. 7, no. 3, 1991, pp. 376 382.
• [14] Wijk O., Christensen H.I., “Localization and navigation of a mobile robot using natural point landmarks extracted from sonar data”,Robotics and Autonomous Systems vol. 31, 2000, pp. 31-42.
• [15] López-Sánchez M., Esteva F., de Mŕntaras R.L., Sierra C., Amat J., “Map Generation by Cooperative Low-Cost Robots in Structured Unknown Environments,Autonomous Robots vol. 5, no. 1, 1998, pp. 53 61.
• [16] Sukkarieh S., Nebot E.M., Durrant-Whyte H.F., “A High Integrity IMU/GPS Navigation Loop for Autonomous Land Vehicle Applications”,IEEE Transactions on Robotics and Automation, vol. 15, no. 3, 1999, pp. 572-578.
• [17] Borenstein J., Feng L., “Measurement and Correction of Systematic Odometry Errors in Mobile Robots”,IEEE Transactions on Robotics and Automation, vol. 12, no. 6,1996, pp. 869 880.
• [18] Barshan B., Durrant-Whyte H.F., “Inertial Navigation Systems for Mobile Robots”,IEEE Transactions on Robotics and Automation, vol. 11(3), 1995, pp. 328 342.
• [19] Lee S., Song J.-B., “Robust Mobile Robot Localization using Optical Flow Sensors and Encoders”. In:Proc. of the IEEE Int. Conf. on Robotics & Automation, April 2004, pp. 1039-1044.
• [20] Leonard J.J., Durrant-Whyte H.F., Cox I.J., “Dynamic map building for an autonomous mobile robot”,Int. J. Robotic Research, vol. 11, no. 4, 1992, pp. 286 298.
• [21] Winton, P. and E. Hammerle , “High resolution position estimation using partial pulses”,IEE Electronics Letters , vol. 36, no. 10, 2000, pp. 897-898.
• [22] Lingemann K., Nuchter A., Hertzberg J., Surmann H.“High-speed laser localization for mobile robots”,Robotics and Autonomous Systems,51, 2005, pp 275 296.
• [23] Hoppenot P., Colle E, Barat C., “Off line localization of a mobile robot using ultrasonic measures”,Robotica, vol. 18, 2000, pp. 315 323.
• [24] Han Y., Hahn H., “Localization and classification of target surfaces using two pairs of ultrasonic sensors”,Robotics and Autonomous Systems, vol. 33, 2000, pp. 31 41.
• [25] F. Thomas and L. Ros, “Revisiting trilateration for Robot Localization”,IEEE Transactions on Robotics, vol. 21, no. 1, 2005, pp. 93 101.
• [26] Fu K.S., Gonzalez R.C., Lee C.S.G,Robotics – Control, Sensing, Vision and Intelligence,McGraw-Hill, 1987.
• [27] Cox I.J., “Balache-An Experiment in Guidance and Navigation of an Autonomous Robot vehicle”,IEEE Transactions on Robotics and Automation, vol. 7, no. 2, 1991. pp 193-204.
• [28] http://www.evolution.com/products/
• [29] Data sheet, “CYWUSB6935 Wireless USB LR 2.4-GHz DSSS Radio SoC”,Cypress Semiconductor Corporation, 2005,www.cypress.com.
• [30] Peterson R., Ziemer R., Borth D.,Introduction to Spread Spectrum Communication, Prentice Hall, 1995.
• [31] De Cecco M., “Sensor fusion of inertial-odometric navigation as a function of the actual manoeuvres of autonomous guided vehicles”, IOP Measurement Science and Technology, vol. 14, 2003, pp. 643-653.