Proposed position and heading measurement system using laser beams on the vehicle and corner cubes

Author

Tsumura, Toshihiro ; Komatsu, Nobuo

Author_Institution

Coll. of Eng., Osaka Prefecture Univ., Sakai, Japan

fYear

1991

fDate

3-5 Nov 1991

Firstpage

1436

Abstract

Presents a method to measure the position and heading of a vehicle moving on the circular course. The calculation is achieved by using the time data when the laser transceiver installed on the vehicle detects the optical references when the vehicle moves near to them. The laser transceiver consists of a laser diode and a photo sensor. The errors caused by time measurement are estimated by simulation. Experimental results for the proposed method show that it is applicable to a position and heading measurement system for a mobile robot

Keywords

laser beam applications; mobile robots; navigation; photodetectors; position measurement; semiconductor junction lasers; vehicles; heading measurement system; laser beams; laser diode; laser transceiver; mobile robot; navigation; optical references; photo sensor; position measurement; time measurement; Automotive engineering; Dead reckoning; Laser beams; Mobile robots; Nonlinear equations; Position measurement; Remotely operated vehicles; Transceivers; Vehicle detection; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Conference_Location

Osaka

Print_ISBN

0-7803-0067-X

Type

conf

DOI

10.1109/IROS.1991.174710

Filename

174710