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

Sooyong Lee, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1731-1736
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Lee, S., & Song, J-B. (2007). Use of coded infrared light as artificial landmarks for mobile robot localization. In IEEE International Conference on Intelligent Robots and Systems (pp. 1731-1736). [4399600] https://doi.org/10.1109/IROS.2007.4399600