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Conference Paper
Localization System for Mobile Robot Using Wireless Communication with IR Landmark
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- Authors
- Byung Kon Sohn, Jae Yeong Lee, Hee Sung Chae, Won Pil Yu
- Issue Date
- 2007-10
- Citation
- International Conference on Robot Communication and Coordination (RoboComm) 2007, pp.1-6
- Language
- English
- Type
- Conference Paper
- Abstract
- The localization of robots is a main problem to solve to make the robots navigate autonomously. This paper introduces an embedded indoor localization system for mobile robot. The system consists of a localization sensor that computes location of itself and infrared landmarks that are wirelessly controlled by the localization sensor. The localization sensor which is combined with an image sensor detects pixel positions of infrared sources from the landmark and by the pixel position the sensor figures out its position(x,y) and heading angle. The coverage of a localization space is enlarged by dynamically combining robot odometer and IR landmark. The advantages of the developed system can be found on its position accuracy, robustness and easy expansion of localization space.
- KSP Keywords
- Heading angle, Indoor localization system, Infrared sources, Mobile robots, image sensor, position accuracy, wireless communication