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Use of coded infrared light for mobile robot localization

Authors
Bae, JungyunLee, SooyongSong, Jae-Bok
Issue Date
7월-2008
Publisher
KOREAN SOC MECHANICAL ENGINEERS
Keywords
localization; infrared light; mobile robot
Citation
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.22, no.7, pp.1279 - 1286
Indexed
SCIE
SCOPUS
KCI
Journal Title
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
Volume
22
Number
7
Start Page
1279
End Page
1286
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/123055
DOI
10.1007/s12206-008-0320-1
ISSN
1738-494X
Abstract
This paper presents mobile robot localization using coded infrared light as artificial landmark. Different from RFID, coded infrared light has highly deterministic characteristics. It is implemented with IR LEDs and phototransistors. By putting several IR LEDs on the ceiling, the floor is divided into several sectors and each sector is set to have a unique identification. 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 occurs. Dead-reckoning provides the estimated robot configuration, but the error becomes accumulated as the robot travels. This paper presents an algorithm that combines both the encoder and the coded infrared light information so that the size of the uncertainty becomes smaller. It also introduces a framework that can be used with other types of artificial landmarks. The characteristics of the developed coded infrared light and the proposed algorithm are verified from experiments.
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