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Proceedings ArticleDOI

Optical azimuth sensor for indoor mobile robot navigation

01 Nov 2008-pp 381-386

TL;DR: A new type of azimuth angular sensor for an indoor mobile robot navigation is developed using infrared linear polarization, which can acquire simultaneously not only the distance from a landmark but an angle of direction.

AbstractA new type of azimuth angular sensor for an indoor mobile robot navigation is developed. This is a kind of optical sensors using infrared linear polarization. Since an angle is measured without contact, it is applicable to the navigation of an autonomous mobile robot. In the indoor environment, the navigation system by using GPS cannot be used. In dead reckoning, the accumulation of measurement error occurs a serious problem. If we use this sensor, we can measure a position only by installing one landmark all over the working space. We can acquire simultaneously not only the distance from a landmark but an angle of direction. Like a gyroscope or a geomagnetism sensor, the large drift depending on environment or time does not occur by this sensor. We make a prototype of the sensor based on this technique and conduct the measurement experiment. The accuracy of azimuth angle error is about 4% and the radial error is 93(mm) at 3(m) distance from the landmark.

Topics: Mobile robot navigation (65%), Position sensor (62%), Dead reckoning (60%), Navigation system (59%), Mobile robot (57%)

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Citations
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Journal ArticleDOI
TL;DR: In this paper, distance estimation methods for portable wireless localization systems are verified and a pocket-sized receiver which can be adapted to a smartphone was found to be suitable for use as a portable device.
Abstract: A versatile indoor/outdoor pedestrian guidance system with good mobility is necessary in order to aid visually impaired pedestrians in indoor and outdoor environments. In this paper, distance estimation methods for portable wireless localization systems are verified. Two systems of a fixed active beacon and a receiver using an ultrasound time-of-flight method and a differential infrared intensity method are proposed. The infrared localization system was appropriate for the goal of this study. It was possible to use the infrared intensity method to generate a uniform signal field that exceeded 30 m. Valid distance estimations which were within 30 m of coverage indoors and within 20 m of coverage outdoors were made. Also, a pocket-sized receiver which can be adapted to a smartphone was found to be suitable for use as a portable device.

12 citations


Cites methods from "Optical azimuth sensor for indoor m..."

  • ...localization method with one LED was reported as well [17]....

    [...]


Proceedings ArticleDOI
29 Nov 2010
TL;DR: It is not currently possible, in virtually any indoor environment like an office or factory, to use geomagnetism to detect the existence of iron-based furniture or reinforced concrete, so an Infrared-Ray (IR) type azimuth sensor system for use in indoor environments is proposed.
Abstract: We propose an Infrared-Ray (IR) type azimuth sensor system for use in indoor environments. The feature of this sensor is an adequate conic-shaped linear polarizer film. Because of the drift in the sensor, azimuth information provided by the angular velocity sensor (gyroscope) is unreliable. It is not currently possible, in virtually any indoor environment like an office or factory, to use geomagnetism to detect the existence of iron-based furniture or reinforced concrete. Our sensor system can recognize a position measured from the non-drift azimuth information based on the installation of only one landmark. We created a prototype of the sensor based on this concept and discuss the sensing properties, as indicated by experimental results.

10 citations


Cites methods from "Optical azimuth sensor for indoor m..."

  • ...We have therefore created a prototype of an azimuty angular sensor[ 1 ] and discuss the precision of the sensing system, as indicated by experimental results....

    [...]


Proceedings ArticleDOI
29 Oct 2018
TL;DR: Experimental results indicate that the proposed concepts can be used for indoor localization with a high degree of accuracy.
Abstract: Indoor localization is a vital ingredient for many e-Healthcare and Ambient Assisted Living (AAL) applications. However, accurate, low power and user acceptable solutions remain elusive. In this paper, we present a novel opportunistic system which estimates the localization information based only on the Doppler information from the user. The Doppler information is collected using the passive radar technique that deploys the RF energy transfer signal which originally intended only to deliver energy to home IoT devices. A low complexity Extended Kalman Filter (EKF) is also proposed to predict and track the user's location. A real-time system has been built based on the software defined radio (SDR) platform to verify the proposed methodology. Experimental results indicate that the proposed concepts can be used for indoor localization with a high degree of accuracy.

1 citations


References
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Journal ArticleDOI
TL;DR: A polarization compass is constructed that was employed successfully on the mobile robot Sahabot and three models for extracting compass information from the polarization pattern of the sky were tested.
Abstract: One of the fundamental abilities required in autonomous agents is homing. Natural agents—for instance, desert ants—solve the homing problem mainly by using path integration within an egocentric frame of reference. When employing such a mechanism, compass information for determining direction is necessary, and the precision of the compass will have a crucial effect on the precision of homing. For deriving compass information, certain insects use the pattern of polarized light in the sky that arises due to scattering of sunlight in the atmosphere (polarized light compass). The analysis of skylight polarization is mediated by specialized photoreceptors and neurons in the visual system. Inspired by the insect's polarized light compass, we have constructed a polarization compass that was employed successfully on the mobile robot Sahabot. Three models for extracting compass information from the polarization pattern of the sky were tested. In this article, we describe the navigation system and report results of ...

183 citations


Journal ArticleDOI
TL;DR: A sensor-based navigation algorithm for mobile robots using information of target direction using the rotational angle of the robot based on topological characteristic of obstacles is proposed and some simulations show an effectiveness by comparison of the proposed method and a conventional position based algorithm.
Abstract: This paper proposes a sensor-based navigation algorithm for mobile robots using information of target direction. The mobile robot moves from an initial position to a desired target position in obstructed environment by the navigation algorithm, where the robot does not know positions and shapes of obstacles, but only knows local information on obstacle's wall and target direction by it's sensor. The algorithm uses target direction instead of robot's position information which is used in other sensor-based navigation algorithm. This navigation method has robustness on the measurement error of target direction, while other navigation algorithms may not be able to work if the robot's position has measurement error. The main point of the algorithm is using the rotational angle of the robot based on topological characteristic of obstacles. Some simulations using the sensorbased navigation algorithm show an effectiveness by comparison of the proposed method and a conventional position based algorithm. Experimental navigation system using the proposed algorithm is developed for confirming the validity of the simulation study.

2 citations


"Optical azimuth sensor for indoor m..." refers methods in this paper

  • ...Since an electric wave decreases the performance of the guidance control in the indoor autonomous mobile robot by existing the roof and the surface of a wall, the self-position measurement using GPS is difficult in those environment....

    [...]


Journal ArticleDOI
TL;DR: Using two measured values by the sensor system, mobile robot's current position is calculated by a geometrical relation of the mobile robot and the landmark.
Abstract: This paper proposes a sensor system to identify mobile robot's current position by measuring target direction angles. Basic component of the sensor system is constructed with a revolutionary sensor head to detect a landmark. The sensor head tracks the direction of landmark using a characteristic of directivity for sensor unit. Two of the component are combined to measure horizontal and vertical angles corresponding to the direction of the landmark. Using two measured values by the sensor system, mobile robot's current position is calculated by a geometrical relation of the mobile robot and the landmark. An experimental target direction sensor system for the mobile robot is developed. Basic characteristics of the developed sensor system is shown in this paper.

2 citations


"Optical azimuth sensor for indoor m..." refers methods in this paper

  • ...Since an electric wave decreases the performance of the guidance control in the indoor autonomous mobile robot by existing the roof and the surface of a wall, the self-position measurement using GPS is difficult in those environment....

    [...]