Navigation and Recognition of the Unknown Space Using Infrared-Following Servo System for Moving Robots.
Yoshihiro Takita, Yuji Hida, Nobuhiro Shimoi · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1995
This paper presents a new measurement system of location and direction of the mobile robot using an optical servo system which detects three beacons to calculate the initial location and direction, and follows one beacon continually to control the direction of motion. As the luminous source of the beacon, infrared rays are used because they are harmless and safe for human beings. The beacons simultaneously, emit the digital identification signal coded in 16 bits and continuous light. While the robot moves in the unknown space, the size of the space is measured by using a supersonic range sensor and the accurate location of the robot is calculated. Experimental results demonstrate the effectiveness of this method.