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9 October 1998 Mobile robot navigation control under coded light
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Proceedings Volume 3517, Intelligent Systems in Design and Manufacturing; (1998)
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States
The increasing use of computer controlled mobile robots in various tasks has created a growing technological need for efficient low cost means and methods for mobile robot guidance. This work presents a robot navigation and guidance system that consists of a directional light sensor and a set of at least three uniquely coded light sources. The three light sources provide distinct light fields in the operating area of the robot. The light sensor, mounted on a mobile robot, is used to measure the angle of the direction of origin of each of the three light sources with respect to the robot reference frame. The local room coordinates of the robot can then be determined by an on-board microprocessor system. The planar position and orientation of the robot can be used to control the drive and steering mechanisms to reach a given target position or track a prescribed trajectory. Control methods for robot guidance are discussed.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Rachid Manseur and Zohra Z. Manseur "Mobile robot navigation control under coded light", Proc. SPIE 3517, Intelligent Systems in Design and Manufacturing, (9 October 1998);

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