Accuracy in position estimation of mobile robots based on coded infrared signal transmission

摘要

A system based on coded, infrared signal transmission for the estimation of position of mobile robots in a structured environment has been reported. Particular emphasis is given on the polar coordinate arrangement in which signals are sent from the transmitters situated at the corners of boundaries of operation. A multi-sensor system strategically situated on board the robot has been found to improve the accuracy of the position estimation substantially. The information detected by the sensors are processed suitably to calculate the central position of the robot geometrically. The algorithms for the position calculations and operational strategy are presented. This system forms the basis for the coordination and cooperation philosophy of multiple mobile robots sharing the same environment performing cooperative or competitive tasks