Paper Info
Title
Relative position localizing system for multiple autonomous mobile robots in distributed robotic system: System design and simulation
Abstract
Coordination strategies and algorithms for a system with multiple autonomous mobile robots often require a robot to know the relative position of other robots in its vicinity (Beni and Wang, 1991; Wang, 1993; Wang and Premvuti, 1994). Many experimental systems employ centralized localization mechanisms, which are invalid for a fully distributed robotic system. An ideal mechanism for relative localization is a fully autonomous passive sensing system (Graefe, 1989; Miura and Shirai, 1994), such as stereo vision, which involves great degree of sophistication and high cost. In this paper, an alternative autonomous relative localization strategy is proposed. Measurement of distance is based on detecting linear velocity of a vertical slit laser beam from a rotating beacon that projected on the photodiode array mounted in round belt shape installed on a robot. Linear velocity of sweeping beam on the sensor array can be interpreted as the distance from a beacon based on an equation. upsilon=r omega, where upsilon is the linear velocity of the laser beam projected on sensor array which can be measured, I is the distance from a beacon to the sensor array which we want to know, and omega is the angular velocity of beacon which is constant and known. Direction is also detected by locating area on the sensor array where the beam is projected and finding the center of that area.
Year
DOI
Venue
1996
10.1016/0921-8890(95)00087-9
ROBOTICS AND AUTONOMOUS SYSTEMS
Keywords
Field
DocType
localization,autonomous mobile robot,distributed robotic system,coordination,laser slit beam
Constant linear velocity,Computer vision,Angular velocity,Stereopsis,Computer science,Simulation,Sensor array,Autonomous system (mathematics),Artificial intelligence,Robot,Robotics,Mobile robot
Journal
Volume
Issue
ISSN
18
3
0921-8890
Citations 
PageRank 
References 
8
1.54
3
Authors
2
Name
Order
Citations
PageRank
Suparerk Premvuti111128.52
Jing Wang25921.58