Dogramadzi, S., Kherada, A., Harvey, D. R. and Virk, G. S.
Active indoor localisation of mobile robots using infra-red.
CLAWAR 2006: 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, September, 2006.
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|Item Type:||Conference or Workshop Item (Paper)|
|Additional Information:||This paper presents work which investigates the potential of IR, as a viable localisation method in terms of precision, cost and ease of implementation for indoor use. The localisation system utilises three IR beacons and the triangulation algorithm for calculating the robot position. It is simulated in the Player/ Stage virtual environment and the positions derived from the localisation system are compared with the calculated odometry values. The system was tested on a robot that has been designed and manufactured. The IR transmitters and receivers were calibrated in order to get optimum results. This was done by narrowing the transmission beam angle as much as possible so that the errors in the angles are as small as possible leading to a precise localisation of the robot. Positional accuracy of the developed system is less than 3%.|
|Uncontrolled Keywords:||Active indoor localisation, mobile robots, infra-red|
|Faculty/Department:||Faculty of Environment and Technology|
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|Deposited On:||22 Jan 2010 15:10|
|Last Modified:||04 Nov 2013 16:10|
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