Use of a 2D IR signal source tracker to fulfill 3D positioning in the robot path control

The position feedback is necessary in the robot path control. Among positioning technologies, this study uses the IR signal source tracker on the robot to track the IR signal source installed above the destination. Since a 3D IR positioning system requires a large lateral width, the compact 2D tracker is utilized, where only the azimuth angle and the elevation angle to the IR signal source are given. However, a height difference between the IR signal source and the 2D tracker can be used to measure the distance, and the position feedback for the robot path control can be fulfilled. The control scheme based on a two-wheeled robot is analyzed and realized.