Identification Method of the Self-Position Using the Digital Mark Pattern.

摘要

This paper proposes a new identification method of self-positioning of an autonomous mobile robot. A CCD camera reads a code of pixels on the mark pattern drawn on a ceiling. The proposed method dose not require complicated calculation compared with other methods such as conventional triangular surveying ones. The most benefit point is that it can do identification of selfpositioning on real time by only reading the pattern. This real time is necessary requirement for mobile robots. Validity of the method is confirmed by experiments of self-positioning on real time by reading the pattern.