Development of a Two Degrees-Of-Freedom Target Direction Sensor System for Localization of Mobile Robots

Nobuhiro Ushimi, Motoji Yamamoto, Akira Mohri

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

This paper proposes a sensor system to identify mobile robot's current position by measuring target direction angles. Basic component of the sensor system is constructed with a revolutionary sensor head to detect a landmark. The sensor head tracks the direction of landmark using a characteristic of directivity for sensor unit. Two of the component are combined to measure horizontal and vertical angles corresponding to the direction of the landmark. Using two measured values by the sensor system, mobile robot's current position is calculated by a geometrical relation of the mobile robot and the landmark. An experimental target direction sensor system for the mobile robot is developed. Basic characteristics of the developed sensor system is shown in this paper.

Original languageEnglish
Pages (from-to)877-884
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume66
Issue number643
DOIs
Publication statusPublished - 2000

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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