Local Range and Bearing Sensing Using Infrared Transceivers in Mobile Robotics
نویسندگان
چکیده
We present a systematic characterization of the localization component of an infrared localization and communication system for mobile robots developed by Ian Kelly [Kelly2004]. We also present modifications to the software component of the system which significantly increase the accuracy of the range and bearing measurements. The improved system has a range of up to 3 m, with a maximum standard deviation in range of 27 cm, and a maximum standard deviation in bearing of 15 degrees.
منابع مشابه
Open E-puck Range & Bearing miniaturized board for local communication in swarm robotics
We have designed and built a new open hardware/software board that lets miniaturized robots communicate and at the same time obtain the range and bearing of the source of emission. The open E-puck Range & Bearing board improves an existing infrared relative localization/communication software library (libIrcom) developed for the e-puck robot and based on its on-board infrared sensors. The board...
متن کاملLindsay Kleeman Advanced Sonar with Velocity Compensation
Robotics research is dependent on intelligent, fast, accurate, reliable, and cheap sensors. Sonar sensing can fulfill these requirements. Moreover, sonar physics provides robotics researchers with a natural selection capability for landmark detection in navigation problems. This paper presents a new sonar system that produces accurate measurement and on-the-fly single cycle classification of pl...
متن کاملInfrared Range Sensor Array for 3D Sensing in Robotic Applications
This paper presents the design and testing of multiple infrared range detectors arranged in a two‐ dimensional (2D) array. The proposed system can collect the sparse three‐dimensional (3D) data of objects and surroundings for robotics applications. Three kinds of tasks are considered using the system: detecting obstacles that lie ahead of a mobile robot, sensin...
متن کاملAdvanced Sonar with Velocity Compensation
Robotics research is dependent on intelligent, fast, accurate, reliable and cheap sensors. Sonar sensing can fulfil these requirements. Moreover sonar physics provides robotics researchers with a natural selection capability for landmark detection in navigation problems. This paper presents a new sonar system that produces accurate measurement and on-the-fly single cycle classification of plane...
متن کاملSocial Motion : Mobile Networking through Sensing Human Behavior
Low-level sensors can provide surprisingly high-level information about social interactions. The goal of this thesis is to define the components of a framework for sensing social context with mobile devices. We describe several sensing technologies – including infrared transceivers, radio frequency scanners, and accelerometers – that both capture social signals and meet the design constraints o...
متن کامل