Conference Paper

Optical guidance system for multiple mobile robots

RIKEN, Inst. of Phys. & Chem. Res., Saitama, Japan
DOI: 10.1109/ROBOT.2001.933067 Conference: Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, Volume: 3
Source: IEEE Xplore


This paper describes our research work towards the development of an optical guidance system for multiple mobile robots in an indoor environment. The guidance system operates with an environment model, communicates with mobile robots and indicates their target positions by means of a light projection from a laser pointer onto the ground. Processing the image data from a CCD color camera mounted on the mobile robot allows it to detect the laser light beacon on the ground and estimate its relative coordinates. The robot's control system ensures the accurate motion of the robot to the indicated target position. The guidance system subsequently indicates target positions corresponding to a desired route for a specified mobile robot in the fleet. The concept of the optical guidance system, its implementation and experimental results obtained are discussed.

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    • "The vehicle is commanded by inducing a signal through the floor‐embedded wire, which is detected and followed by the vehicle. Optical guidance systems [8] have also been used for guiding these vehicles. Flow paths are painted in the floor, using visible or invisible fluorescent paint and photosensors are used to detect the intensity of the fluorescence. "
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    ABSTRACT: This work presents the development of a flexible industrial guidance system used to guide Automated Guided Vehicles (AGVs) in indoor industrial environments. Typically, wireless guidance systems are composed of path-tracking and localization methods linked to follow a certain route. This paper focuses on the localization approach that permits industrial vehicles to operate indoors with the grade of accuracy, repeatability and reliability required by industrial applications. A key point is that, apart from accuracy, the position estimates should be performed at a high sample rate in order to permit the path tracker to follow the route properly. Robustness of absolute positioning is also crucial in industrial applications. An Extended Kalman Filter (EKF) is adopted to fuse the information provided by a laser navigation system and odometry. The effectiveness of the development is tested using a custom modified commercial industrial vehicle operating in an industrial setting.
    Full-text · Article · Jul 2013 · International Journal of Advanced Robotic Systems
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    • "3. The navigation errors can occur while the robot moves through intersections. 4. The presence of obstacles increases the risk of positional uncertainty, especially in the proximity of the start position at intersections. Figure 3. Example of robot navigation based solely on IA The Optical Pointer shows a target position to the robot by means of projecting a laser light onto the ground (Paromtchik & Asama, 2001). The robot detects the laser beacon by means of image processing and moves toward it. "
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    ABSTRACT: This chapter introduced a cooperative navigation strategy for mobile robots operating in indoor environments with the embedded Information Assistant and Optical Pointer devices, as an application of an intelligent environmental robotic system. In order to provide a more flexible navigation, the management of environmental information was considered. The static global information supplies topological details such as the positional relation of any starting point to any goal point in order to create an approximate route. The dynamic local information includes a local map, obstacles and traffic information for accurate navigation. We proposed the information management and navigation algorithm based on the IA and OP devices embedded into the environment. The experimental example of navigation was described. The robot was initially provided with a coarse route to the goal, and the IA devices managed the environmental information in real-time locally. The OP device was used for guidance at intersections, and communication with mobile robots was performed through the IA device. The OP indicated target positions by means of a laser light projected from a laser pointer onto the ground. The mobile robot detected the laser beacons and followed them to reach its goal destination. The experiments have proved the feasibility of the proposed method.
    Full-text · Chapter · Jun 2008
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    • "The guidance system indicates target positions for the robot by means of a laser light projected onto the ground [4]. The approach is sketched in Fig. 1, where the overall system involves: the laser, the teleoperation board, and the mobile robots. "
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    ABSTRACT: The optical guidance of robots spans the research topics of robotics, computer vision, communication and real-time control. The proposed method aims to improve the accuracy of guidance along a desired route in an environment that is unknown to the robot. The key idea is to indicate the numerical coordinates of target positions by means of projecting a laser light onto the ground. In contrast with other guidance methods, which communicate the target position numerically, using optical commands avoids the need to maintain the coordinate transformation between the robot’s system and that of the environmental model (“world” reference coordinates). The image processing and communication ensure that the robot accurately follows the route indicated by laser beacons, and self-localization becomes less relevant for guidance. The experimental results have proved the effectiveness of this method.
    Preview · Article · Jun 2006 · Robotics and Autonomous Systems
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