NDLI: Use of coded infrared light as artificial landmarks for mobile robot localization

Content Provider	IEEE Xplore Digital Library
Author	Sooyong Lee Jae-Bok Song
Copyright Year	2007
Description	Author affiliation: Hongik Univ., Seoul (Sooyong Lee)
Abstract	This paper presents mobile robot localization using coded infrared light as artificial landmarks. Different from RFID, identification using infrared light has highly deterministic characteristics. IRID(infrared identification) is implemented with IR LEDs and photo transistors. By putting several infrared LEDs on the ceiling, the floor is divided into several sectors and each sector is set to have a unique identification. The coded infrared light tells which sector the robot is in, but the size of the uncertainty is still too large if the sector size is large, which usually occur. Dead-reckoning provides the estimated robot configuration but the error is getting accumulated as the robot travels. This paper presents an algorithm which fuses 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.
Starting Page	1731
Ending Page	1736
File Size	511804
Page Count	6
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399600
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Radiofrequency identification Infrared sensors Wearable sensors Robot kinematics Wheels Position measurement Cameras Radio frequency RF signals
Content Type	Text
Resource Type	Article

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