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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

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Published on: October 14, 2017

Infrared sensor system for mobile-robot positioning in intelligent spaces.

Ernesto Martín Gorostiza1, José Luis Lázaro Galilea, Franciso Javier Meca Meca

  • 1Department of Electronics, University of Alcalá, Alcalá de Henares, Madrid, 28801, Spain. ernesto@depeca.uah.es

Sensors (Basel, Switzerland)
|December 14, 2011
PubMed
Summary

This study presents an infrared-based mobile robot positioning system using phase-shift measurements and hyperbolic trilateration. The system achieves accurate indoor positioning with wide coverage and acceptable robot speed.

Keywords:
infrared position measurementphase measurementrobotssensors

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Area of Science:

  • Robotics
  • Sensor Systems
  • Navigation

Background:

  • Accurate mobile robot positioning is crucial for intelligent spaces.
  • Existing indoor positioning systems face trade-offs between signal-to-noise ratio (SNR), coverage, and real-time performance.

Purpose of the Study:

  • To develop and validate a novel sensorial system for mobile robot positioning in an intelligent space.
  • To measure differential phase-shifts in infrared signals for distance and position estimation.

Main Methods:

  • Utilized a sinusoidally modulated infrared signal transmitted from the mobile robot.
  • Employed an I/Q demodulator with single-stage synchronous demodulation to measure phase-shifts.
  • Estimated robot position using hyperbolic trilateration based on differential distances.

Main Results:

  • Successfully obtained differential distances from phase-shifts.
  • Demonstrated the validity of the proposed system through real-world measurements for both distance and position.
  • Achieved good precision with wide coverage and acceptable robot speed, addressing SNR trade-offs.

Conclusions:

  • The developed infrared sensorial system provides a viable solution for accurate mobile robot positioning.
  • The system effectively overcomes common limitations in indoor positioning, offering a competitive alternative.