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Localization using infrared beacons

Published online by Cambridge University Press:  01 March 2000

Eric Brassart
Affiliation:
GRACSY. Groupe de Recherche sur l'Analyse et la Commande des SYstèmes, Université de Picardie Jules Verne, Amiens, France; IUT, Département Informatique, Avenue des facultés 80000 Amiens (France) E-mail: [email protected]
Claude Pegard
Affiliation:
GRACSY. Groupe de Recherche sur l'Analyse et la Commande des SYstèmes, Université de Picardie Jules Verne, Amiens, France; IUT, Département Informatique, Avenue des facultés 80000 Amiens (France) E-mail: [email protected]
Mustapha Mouaddib
Affiliation:
GRACSY. Groupe de Recherche sur l'Analyse et la Commande des SYstèmes, Université de Picardie Jules Verne, Amiens, France; IUT, Département Informatique, Avenue des facultés 80000 Amiens (France) E-mail: [email protected]

Abstract

In this paper, we deal with a localization system allowing one to determine the position and orientation of a mobile robot. This system uses active beacons distributed at the ceiling of the navigation area. These beacons can transmit a coded infrared signal which allows the robots to identify the sender. A CCD camera associated to an infrared receiver allows one to compute the position with a triangulation method which needs reduced processing time. Calibration and correcting distortion stages are performed to improve accuracy in the determination of the position. Dynamic localisation is established for most actual mobile robots used in indoor areas.

Type
Research Article
Copyright
© 2000 Cambridge University Press

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