Active indoor localisation of mobile robots using infra-red

Dogramadzi, Sanja; Kherada, A.; Harvey, D. R.; Virk, G. S.

Sanja Dogramadzi Sanja.Dogramadzi@uwe.ac.uk
Professor in Medical Robotics

A. Kherada

D. R. Harvey

G. S. Virk

Presentation Conference Type	Conference Paper (unpublished)
Conference Name	CLAWAR 2006: 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Start Date	Sep 1, 2006
End Date	Sep 1, 2006
Publication Date	Sep 1, 2006
Peer Reviewed	Not Peer Reviewed
Keywords	Active indoor localisation, mobile robots, infra-red
Public URL	https://uwe-repository.worktribe.com/output/1036664
Additional Information	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%. Title of Conference or Conference Proceedings : CLAWAR 2006: 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines