Relative Position Localizing System for Multiple Autonomous Mobile Robots in Distributed Robotic System --- Algorithm to Detect Overlapped SLPM Patterns ---

摘要

Each mobile robot in the distribute drobotic system using the proposed localizing method is equipped with a rotating laser beacon which project vertical slit laser beam. Below the beacon, photo diodes are installed in circular array to detect laser beam from any direction around the robot. Measurement of distance is based on detecting linear velocity of a vertical slit laser beam from a rotating beacon that projected on the photodiode array mounted on a robot. direction is also detected by locating area on the sensor array where the beam is projected and finding the center of that area.