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http://dx.doi.org/10.5302/J.ICROS.2008.14.8.767

Localization System for Mobile Robot Using Electric Compass and Tracking IR Light Source  

Son, Chang-Woo (부산대학교 기계공학부)
Lee, Seung-Heui (부산대 기계기술연구원)
Lee, Min-Cheol (부산대학교 기계공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.8, 2008 , pp. 767-773 More about this Journal
Abstract
This paper presents a localization system based on the use of electric compass and tracking IR light source. Digital RGB(Red, Green, Blue)signal of digital CMOS Camera is sent to CPLD which converts the color image to binary image at 30 frames per second. CMOS camera has IR filter and UV filter in front of CMOS cell. The filters cut off above 720nm light source. Binary output data of CPLD is sent to DSP that rapidly tracks the IR light source by moving Camera tilt DC motor. At a robot toward north, electric compass signals and IR light source angles which are used for calculating the data of the location system. Because geomagnetic field is linear in local position, this location system is possible. Finally, it is shown that position error is within ${\pm}1.3cm$ in this system.
Keywords
electric compass sensor; IR LED; localization system; digital CMOS camera;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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