Lightwave Robot Positioning based on Composite Codes Acquisition and Evolutionary Computations

摘要

Lightwave robot positioning with composite codes acquisition is investigated in this paper. The indoor robot positioning system was previously examined with single Pseudo-Noise (PN) signal sequence. In views of correlation acquisition, the longer the code acquisition time, the longer the path estimation distance, and the worse the robot positioning accuracy. Under comparable period lengths, acquisition time for composite PN codes can be shorter than that of pure PN codes, thus can largely enhance the robot positioning accuracy. In the devised system configuration, three transmitters continuously send out their light coding signals to the robot receiver. The robot evaluates its current position by measuring time difference of arrival (TDOA) among the three paths. Memetic algorithms (MA) can then be used with the measured TDOAs to obtain a more accurate robot location. Finally, we provide a general analysis of the relationship between correlation value and robots position.