TY - GEN
T1 - Use of coded infrared light as artificial landmarks for mobile robot localization
AU - Lee, Sooyong
AU - Song, Jae Bok
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=51349144722&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349144722&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399600
DO - 10.1109/IROS.2007.4399600
M3 - Conference contribution
AN - SCOPUS:51349144722
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1731
EP - 1736
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -