DocumentCode :
399311
Title :
ORBITAL system: numerical evolution and first experimental results
Author :
Venet, Thierry ; Capitaine, T. ; Hamzaoui, Mohamed ; Mouaddib, Mostapha
Author_Institution :
CREA Lab. of Insset, Saint-Quentin, France
Volume :
2
fYear :
2003
fDate :
27-31 Oct. 2003
Firstpage :
1493
Abstract :
We describe, in this paper, the hardware and software evolution of our "ORBITAL system" (one rotating beacon for information transmission and absolute localization). The main advantage of this system is that it only needs one active beacon for a complete localization of the mobile robot (2 Cartesian coordinates and the orientation). The receiver was made by an array of 6 large photodiodes (1 cm) fixed on the vehicle. The active beacon is a rotating laser, fixed on a wall of the maneuvering area, with vertical line generation lens. This beacon includes an innovative laser modulation, based on a frequency variation which is a function of its absolute angular position. In the first part, a short description of the first (analog) version of the beacon and receiver is made and the theoretical localization principle of this system is summarized. In the second part the problems generated by the use of analogue technology is described and the solution brought by the new numerical version of the beacon is explained. In the third part, the numerical approach is demonstrated to simplify the calibration procedure and error estimation calculations. The first results obtained in real conditions are given in the final part.
Keywords :
calibration; computerised control; laser beam applications; mobile robots; navigation; optical links; optical modulation; optical receivers; path planning; photodiodes; position control; ORBITAL system; absolute angular position; absolute localization; active beacon; calibration; error estimation; frequency variation; information transmission; laser beam signal processing; laser modulation; mobile robot; photodiode array; rotating beacon; rotating laser; Hardware; Laboratories; Lenses; Mobile robots; Photodiodes; Robot sensing systems; Robot vision systems; Sensor arrays; Sensor systems; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
Type :
conf
DOI :
10.1109/IROS.2003.1248855
Filename :
1248855
Link To Document :
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