Title :
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
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;
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
DOI :
10.1109/IROS.1991.174710
