Binocular-vision-based position sensor with PSDs and its application to mobile robot following

A new binocular-vision-based position sensor with position sensitive devices (PSDs) is proposed. The features of the sensor are easy handling and fast processing, for detecting other travelling objects in a mobile robot system. The measurable range of angle in the lens-and-PSD sensor is restricted due to the image surface bulge of the lens. Thus, the proposed position sensor is controlled by stepping motors to face the light source in the prerunning car. The principle of the proposed position sensor is described and the characteristics of a trial sensor are discussed. Experimental results demonstrate the suitability of this position sensor for mobile robot systems