Use of coded infrared light as artificial landmarks for mobile robot localization
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Sooyong | - |
dc.contributor.author | Song, Jae-Bok | - |
dc.date.accessioned | 2022-07-05T08:42:49Z | - |
dc.date.available | 2022-07-05T08:42:49Z | - |
dc.date.created | 2022-07-05 | - |
dc.date.issued | 2007 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/29936 | - |
dc.description.abstract | This paper presents mobile robot localization using coded infrared light as artificial landmarks. Different from RFID, identification using infrared light has highly deterministic characteristics. IRID(InfraRed Identification) is implemented with IR LEDs and photo transistors. By putting several infrared LEDs on the ceiling, the floor is divided into several sectors and each sector is set to have a unique identification. The coded infrared fight tells which sector the robot is in, but the size of the uncertainty is still too large if the sector size is large, which usually occur. Dead-reckoning provides the estimated robot configuration but the error is getting accumulated as the robot travels. This paper presents an algorithm which fuses both the encoder and the IRID information so that the size of the uncertainty becomes smaller. It also introduces a framework which can be used with other types of the artificial landmarks. The characteristics of the developed IRID and the proposed algorithm are verified from the experiments. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE | - |
dc.title | Use of coded infrared light as artificial landmarks for mobile robot localization | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Lee, Sooyong | - |
dc.identifier.wosid | 000254073201051 | - |
dc.identifier.bibliographicCitation | 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, pp.1737 - + | - |
dc.relation.isPartOf | 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 | - |
dc.citation.title | 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 | - |
dc.citation.startPage | 1737 | - |
dc.citation.endPage | + | - |
dc.type.rims | ART | - |
dc.type.docType | Proceedings Paper | - |
dc.description.journalClass | 3 | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Artificial Intelligence | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
94, Wausan-ro, Mapo-gu, Seoul, 04066, Korea02-320-1314
COPYRIGHT 2020 HONGIK UNIVERSITY. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.