Localization of a Target with Three Degrees of Freedom Using a Low Cost Wireless Infrared Sensor Network (original) (raw)
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Infrared sensor system for mobile-robot positioning in intelligent spaces
Sensors (Basel, Switzerland), 2011
The aim of this work was to position a Mobile Robot in an Intelligent Space, and this paper presents a sensorial system for measuring differential phase-shifts in a sinusoidally modulated infrared signal transmitted from the robot. Differential distances were obtained from these phase-shifts, and the position of the robot was estimated by hyperbolic trilateration. Due to the extremely severe trade-off between SNR, angle (coverage) and real-time response, a very accurate design and device selection was required to achieve good precision with wide coverage and acceptable robot speed. An I/Q demodulator was used to measure phases with one-stage synchronous demodulation to DC. A complete set of results from real measurements, both for distance and position estimations, is provided to demonstrate the validity of the system proposed, comparing it with other similar indoor positioning systems.
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Performance Analysis of Low-Cost Infrared Sensors for Multi-Robot Localization and Communication
International Journal of Computer Applications, 2018
In this paper, we produced a study for choosing a suitable environment for indoor localization and communication among several robots by using low-cost infrared sensors. This study is used to compare the performance of the infrared sensors for measuring the distances and the range of communication among robots at indoor environments. This environment is tested under the influence of the sun and the fluorescent lights and with different angles of viewing among these sensors. Practical circuits for these infrared sensor are built and tested in different environments with different angles of view to choose a suitable performance of these sensors.
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Robotic Localization Using Low Cost Infrared Beacons
2013
Localization is one of the fundamental problems of robotics, and amount of work presented in the literature is tremendous. A mobile robot must recognize its location to move freely in the room. The robot works to compare the previous information with the information from the sensor to recognize the real location. We describe an efficient method for localizing a mobile robot in an environment with beacons. We assume that the robot can identify these beacons and measure their position relative to each other.
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Use of IRID (InfraRed IDentification) for Mobile Robot Localization
Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B, 2006
This paper presents mobile robot localization using IRID (InfraRed IDentification) as artificial landmarks. IRID is implemented with IR LEDs and photo transistors. Different from RFID, IRID has highly deterministic characteristics. By putting several IRID LEDs on the ceiling, the floor is divided into several sectors and each sector is set to have a unique identification. IRID tells which sector the robot is in, but the size of the uncertainty is still too large because the sector size is too large. This paper presents an algorithm which combines both the encoder and the IRID information so that the size of the uncertainty becomes smaller. It also introduces a framework which can be used with other types of the artificial landmarks. The characteristics of the developed IRID and the proposed algorithm are verified from the experiments.
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