Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Beacon Color Code Scheduling for the Localization of Multiple Robots

다 개체 로봇의 위치인식을 위한 비컨 컬러 코드 스케줄링

  • 박재현 (부산대학교 전자전기공학과) ;
  • 이장명 (부산대학교 전자전기공학과)
  • Received : 2009.12.15
  • Accepted : 2010.02.08
  • Published : 2010.05.01
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Abstract

This paper proposes a beacon color code scheduling algorithm for the localization of multiple robots in a multi-block workspace. With the developments of intelligent robotics and ubiquitous technology, service robots are applicable for the wide area such as airports and train stations where multiple indoor GPS systems are required for the localization of the mobile robots. Indoor localization schemes using ultrasonic sensors have been widely studied due to its cheap price and high accuracy. However, ultrasonic sensors have some shortages of short transmission range and interferences with other ultrasonic signals. In order to use multiple robots in wide workspace concurrently, it is necessary to resolve the interference problem among the multiple robots in the localization process. This paper proposes an indoor localization system for concurrent multiple robots localization in a wide service area which is divided into multi-block for the reliable sensor operation. The beacon color code scheduling algorithm is developed to avoid the signal interferences and to achieve efficient localization with high accuracy and short sampling time. The performance of the proposed localization system is verified through the simulations and the real experiments.

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References

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