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Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method
Maciej Ciężkowski1, Rafał Kociszewski1
1Automatic Control and Robotics Department, Faculty of Electrical Engineering, Bialystok University of Technology, Wiejska St. 45D, 15-351 Bialystok, Poland.
Sensors (Basel, Switzerland)
|March 13, 2024
Summary
This study introduces a high-speed, static indoor navigation system for collaborative mobile robots. The infrared triangulation system achieves 50 Hz positioning accuracy, enhancing robot localization in Industry 4.0 environments.
Area of Science:
- Robotics and Automation
- Indoor Navigation Systems
- Industry 4.0 Technologies
Background:
- Precise indoor navigation is crucial for collaborative mobile robots in Industry 4.0.
- Global Navigation Satellite System (GNSS) is ineffective indoors.
- Existing systems often rely on trilateration or triangulation, with typical update rates of 10-20 Hz.
Purpose of the Study:
- To develop a high-speed, static indoor positioning system for mobile robots.
- To improve upon the limitations of existing navigation systems in terms of speed and robustness.
Main Methods:
- Utilized a triangulation method with infrared transmitters and receivers.
- Developed a completely static system, eliminating moving or rotating measurement sensors.
- Achieved a high position update frequency of 50 Hz.
Main Results:
- Demonstrated a beacon bearing accuracy of Δφ = 0.51°.
- Achieved a positioning accuracy of ΔR = 6.55 cm.
- The system operates at a high update frequency of 50 Hz, significantly faster than conventional systems.
Conclusions:
- The proposed static, high-speed infrared triangulation system offers precise and robust indoor localization for mobile robots.
- The system's high update rate and static nature make it suitable for demanding Industry 4.0 applications.
- This advancement contributes to more reliable and efficient autonomous robot operation in indoor environments.
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