Browse > Article

Absolute Positioning System of Mobile Robot using Light Navigation Path  

박용택 (경상대학교 제어계측공학과)
정효용 (경상대학교 대학원 제어계측공학과)
국금환 (경상대학교 제어계측공학과, 공학연구원)
Publication Information
Journal of the Korean Society for Precision Engineering / v.20, no.10, 2003 , pp. 141-147 More about this Journal
Abstract
This paper represents an absolute positioning system using a light navigation path for mobile robot. The absolute positioning system is composed of the projector unit which generates a laser beam using laser diode and mobile robot with the optical detector which has some optical sensors. The projector unit is fixed over the navigating plane of mobile robot to generate the light navigation path, and the optical detector located upper part of mobile robot detects the generated laser beam from the projector. The navigation of mobile robot is controlled by the micro-processor which compares the detected present position from the detector with the previously programmed navigation path. And experimental results show that our sensor system can be used for the absolute positioning system of the mobile robot.
Keywords
Mobile Robot; Absolute Positioning System; Laser Diode; Optical Sensor;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Lasecki, R. R., 'AGV System Criteria,' Robots 10 Conf. Proc. pp. 9-29-9-46, April 1986
2 Knasel, T. M., 'Mobile Robotics - State of the Art Review,' Robotics 2, pp. 149-155, 1986   DOI   ScienceOn
3 Schuler, J., 'Tool Supply for Machining Centres with an Inductively Guilde Mobile Robot,' Int. Conf. on Advanced Robotics, pp. 123-134, 1985
4 Drake, K. C., et al., 'Sensing Error for a Mobile Robot Using Line Navigation,' IEEE Trans. Pattern Analysis and Mochine Intelligence, PAMI-7 (4), pp. 485-490, 1985   DOI
5 Fan, Z., Borenstein, J., Wehe, D. and Koren, Y., 'Experimental Evaluation of an Encoder Trailer for Dead-Reckoning in Tracked Mobile Rotots,' Proceedings of 10th IEEE Int. Symposium on Intelligent Control, pp. 571-576, 1995   DOI
6 Park, K., Chung, H. and Lee, J., 'Dead Reckoning Navigation for Autonomous Mobile Robots,' Preeding of Intelligent Autonomous Vehicle, Madrid, Spain, pp. 441-446, March 25-28, 1998
7 Gonzalez, J., Ollero, A and Hurtodo, P., 'Local Map Building for Mobile Robot Autonomous Navigation by using a 2D Laser Range Sensor,' IFAC World Congress, Pergamon Press, Sydeny Australia, 1993
8 Boldrin, B., 'Application and Procurement of Automatic Guided Vehicle Systems,' Robotics Engineering, pp. 10-14, Feb., 1986
9 Holenstein, A A, Muller, M. A, Badreddin, E., 'Mobile Robot Localization in a Structured Environment Cluttered with Obstacles,' IEEE Conference on Robotics and Automation, Nice, France, pp. 2576-2581, May 1992   DOI
10 John J. Leonard and Hugh F. Durrant-Whyte, 'Direct Sonar Sensing for Mobile Robot Navigation,' Kluwer Academic Publishers