An Indoor Localization System for Mobile Robots Using an Active Infrared Positioning Sensor

Oh, Jung Hyun; Kim, Doojin; Lee, Beom H.

doi:10.12720/jiii.2.1.35-38

Cited by 18 publications

(12 citation statements)

References 5 publications

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“…They also determined the position and orientation accuracy to be reasonably high based on their experimental data. Oh et al [17] developed an indoor localization system based on the Hagisonic StarGazer localization system. They also evaluated this system and found several types of deviations from the actual values.…”

Section: Related Workmentioning

confidence: 99%

“…Passive landmarks are fabricated with IR light-reflecting materials without using any external power. A CMOS IR camera and an IR LED array are integrated into the mobile robot to locate the robot based on the detected passive landmarks [17,18]. IR emitters are usually used as active landmarks [19,20] that are positioned at stationary locations and continuously emit an IR signal.…”

Section: Introductionmentioning

confidence: 99%

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Indoor mobile robot self-localization based on a low-cost light system with a novel emitter arrangement

Wang

Takahashi

2018

Robomech J

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This paper proposes a low-cost infrared (IR) LED system with a novel arrangement that enables the self-localization of an indoor mobile robot. The proposed system uses only low-cost IR LED emitters installed on the ceiling of a building and low-cost IR receivers, each equipped with a photodiode, located on top of the mobile robot for detection. The IR LEDs, which are driven by an on-off keying modulator with various frequencies, are used as active landmarks. The mobile robot localizes itself based on the IR LED signals it receives. Although it would be desirable to assign a unique ID to each emitter, this would be difficult to realize because of the limited number of available frequencies and the production cost resulting from the use of independent microcontrollers. Therefore, we designed a novel landmark configuration consisting of an IR LED array with unique ID-encoding capabilities based on a combination of different frequencies and the repeated use of each ID encoding LED to address the problem of limited frequencies. The novel landmark arrangement reduces the costs associated with production, ID encoding, and computation. A Monte-Carlo localization method with a belief function is utilized to estimate the position and orientation of the mobile robot based on the decoded ID information and received signal strength. The proposed system was tested in a real environment and the experimental results confirmed the validity and accuracy of the system and method.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Indoor mobile robot self-localization based on a low-cost light system with a novel emitter arrangement

Wang

Takahashi

2018

Robomech J

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“…They similarly determined the orientation accuracy and position to be sensibly high based on their new data. [12] established an indoor localization system built on the Hagisonic Star-Gazer localization system. They also found some categories of deviations from the actual values and evaluated this system.…”

Section: Introductionmentioning

confidence: 99%

Multi-Robot Localization System using an Array of LEDs and LDR Sensors

AL-Forati¹,

Rashid²

2020

IJCA

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a new positioning system for indoor multi-robot localization is proposed. This system solves the problem of localization by using an array of Light Emitting Diodes (LEDs) distributed uniformly in the environment. The localization is achieved by collecting the information from a group of Light Dependent Resistor (LDR) sensors with which the robot is equipped. The binary search algorithm is used to reduce the time of the localization process by controlling the lights of the LED array. The minimum bounded circle algorithm is used to draw a virtual circle from the information collected by the LDR sensors and the center of this circle represents the robot's location. This algorithm can be implemented in a multi-robot system when the main control unit can distinguish among the LDR sensors' information. In the case of unknown information, the K-means Clustering algorithm is used to separate this information into clusters. Each cluster can be used to estimate the location of one robot. The suggested system is simulated and practically implemented in an environment with (32*32) arrays of LEDs. The simulation and experimental results of this system show good performance in the localization process. General TermsLight Emitting Diode (LEDs), Light Dependent Resistor (LDR), multi-robot system. KeywordsLocalization system, Binary search algorithm, Minimum bounded circle algorithm.

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“…RFID (Radio Frequency Identification) is an emerging technology with many different applications, such as monitoring arm activity, indoor location and trajectory tracking [1][2][3][4]. In this paper, we introduce a campus attendance system using 2.45GHz active RFID technology, which can judge the direction of students entering and out of the campus with real time.…”

Section: Introductionmentioning

confidence: 99%

Research on 2.45GHz active RFID card motion direction judgement algorithm based on RSSI distribution

Zhan-bin¹,

Zhu²,

Zhang³

2018

Proceedings of the 2018 7th International Conference on Energy and Environmental Protection (ICEEP 2018)

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In order to solve the problem that a large number tags motion direction judgement in campus long distance attendance system based on 2.45GHz active RFID technology, a technical test system was designed and constructed in this paper, the RSSI of the student tags through the technical test system obtained by two antennas. Then this paper analyzed the data characteristics, and proposed 2.45GHz active RFID card motion direction judgement algorithm based on RSSI distribution. Finally, 1000 student tags are used to experiment, and the experimental results shown that the effective judgment rate of the algorithm reaches more than 99.9%.

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An Indoor Localization System for Mobile Robots Using an Active Infrared Positioning Sensor

Cited by 18 publications

References 5 publications

Indoor mobile robot self-localization based on a low-cost light system with a novel emitter arrangement

Indoor mobile robot self-localization based on a low-cost light system with a novel emitter arrangement

Multi-Robot Localization System using an Array of LEDs and LDR Sensors

Research on 2.45GHz active RFID card motion direction judgement algorithm based on RSSI distribution

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