A Three-Photo-Detector Optical Sensor Accurately Localizes a Mobile Robot Indoors by Using Two Infrared Light-Emitting Diodes
Indoor positioning systems are facing to the demand of large-scale industrial applications in mobile robotics. It is still challenging to create an indoor positioning system that is easily embeddable, accurate, robust and power efficient. We constructed an easily embeddable, low-power optical sensor...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9089000/ |
| _version_ | 1818856939331780608 |
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| author | Evandro Bernardes Stephane Viollet Thibaut Raharijaona |
| author_facet | Evandro Bernardes Stephane Viollet Thibaut Raharijaona |
| author_sort | Evandro Bernardes |
| collection | DOAJ |
| description | Indoor positioning systems are facing to the demand of large-scale industrial applications in mobile robotics. It is still challenging to create an indoor positioning system that is easily embeddable, accurate, robust and power efficient. We constructed an easily embeddable, low-power optical sensor named InLock without lens to localize a mobile robot indoors moving at 0.20 m/s with an accuracy inferior to 10cm for the position and 0.1rad for the heading by using only three photo-detectors (PDs) and two infrared Light-Emitting Diodes (LEDs). (i) We modelled the optical sensor based on only three photo-detectors and two infrared LEDs by taking into account radiometric properties. (ii) We constructed the optical sensor by optimizing the geometry of the beacon and the receiver. (iii) We implemented and validated online estimation algorithms for an operating range at a height up to 3m by using an extended Kalman filter and a complementary filter. Our results showed that modelling the optical sensor so that it takes into account radiometric properties and it optimizes the geometry of the beacon can enhance the accuracy of the indoor positioning system. |
| first_indexed | 2024-12-19T08:32:28Z |
| format | Article |
| id | doaj.art-0705ef8de0d54a6e8321cd7f86d5b410 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T08:32:28Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-0705ef8de0d54a6e8321cd7f86d5b4102022-12-21T20:29:08ZengIEEEIEEE Access2169-35362020-01-018874908750310.1109/ACCESS.2020.29929969089000A Three-Photo-Detector Optical Sensor Accurately Localizes a Mobile Robot Indoors by Using Two Infrared Light-Emitting DiodesEvandro Bernardes0Stephane Viollet1Thibaut Raharijaona2https://orcid.org/0000-0002-7692-1872Aix Marseille univ, CNRS, ISM, Marseille, FranceAix Marseille univ, CNRS, ISM, Marseille, FranceAix Marseille univ, CNRS, ISM, Marseille, FranceIndoor positioning systems are facing to the demand of large-scale industrial applications in mobile robotics. It is still challenging to create an indoor positioning system that is easily embeddable, accurate, robust and power efficient. We constructed an easily embeddable, low-power optical sensor named InLock without lens to localize a mobile robot indoors moving at 0.20 m/s with an accuracy inferior to 10cm for the position and 0.1rad for the heading by using only three photo-detectors (PDs) and two infrared Light-Emitting Diodes (LEDs). (i) We modelled the optical sensor based on only three photo-detectors and two infrared LEDs by taking into account radiometric properties. (ii) We constructed the optical sensor by optimizing the geometry of the beacon and the receiver. (iii) We implemented and validated online estimation algorithms for an operating range at a height up to 3m by using an extended Kalman filter and a complementary filter. Our results showed that modelling the optical sensor so that it takes into account radiometric properties and it optimizes the geometry of the beacon can enhance the accuracy of the indoor positioning system.https://ieeexplore.ieee.org/document/9089000/Indoor positioning systeminfrared light communicationLEDcomplementary filterKalman filterrobot’s localization |
| spellingShingle | Evandro Bernardes Stephane Viollet Thibaut Raharijaona A Three-Photo-Detector Optical Sensor Accurately Localizes a Mobile Robot Indoors by Using Two Infrared Light-Emitting Diodes IEEE Access Indoor positioning system infrared light communication LED complementary filter Kalman filter robot’s localization |
| title | A Three-Photo-Detector Optical Sensor Accurately Localizes a Mobile Robot Indoors by Using Two Infrared Light-Emitting Diodes |
| title_full | A Three-Photo-Detector Optical Sensor Accurately Localizes a Mobile Robot Indoors by Using Two Infrared Light-Emitting Diodes |
| title_fullStr | A Three-Photo-Detector Optical Sensor Accurately Localizes a Mobile Robot Indoors by Using Two Infrared Light-Emitting Diodes |
| title_full_unstemmed | A Three-Photo-Detector Optical Sensor Accurately Localizes a Mobile Robot Indoors by Using Two Infrared Light-Emitting Diodes |
| title_short | A Three-Photo-Detector Optical Sensor Accurately Localizes a Mobile Robot Indoors by Using Two Infrared Light-Emitting Diodes |
| title_sort | three photo detector optical sensor accurately localizes a mobile robot indoors by using two infrared light emitting diodes |
| topic | Indoor positioning system infrared light communication LED complementary filter Kalman filter robot’s localization |
| url | https://ieeexplore.ieee.org/document/9089000/ |
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