MOBILE ROBOT INDOOR LOCALIZATION AND NAVIGATION SYSTEM, INDOOR LOCALIZATION AND NAVIGATION METHOD, AND INDOOR LOCALIZATION AND NAVIGATION PROGRAM

摘要

PROBLEM TO BE SOLVED: To detect both coarse- and fine-grained real-time indoor location information of a mobile robot.SOLUTION: An indoor localization system for a mobile robot comprises: a projector configured to project a temporal projector light signal; a stationary sensor node comprising a light sensor configured to detect the temporal projector light signal and generate a sensor signal and a transmitter configured to transmit a sensor node identifier and a position code generated based on the sensor signal; a receiver configured to receive the sensor node identifier and the position code transmitted from the transmitter; and an onboard computer mounted on the mobile robot and coupled to the projector and the receiver. The projector light signal is encoded, for each pixel of the projector, with an information segment comprising the pixel coordinates. Location information of the mobile robot is determined based on the sensor node identifier and the position code.SELECTED DRAWING: Figure 1A