An Indoor Localization Scheme by Integrating Wiimote with an IR-LED Array for Mobile Robot Navigations

結合Wiimote與紅外光LED陣列之室內定位系統與其在機器人路徑規劃之應用

傅育德(Yu-Te Fu) ； 陳國聲(Kuo- Shen Chen)

《中國機械工程學刊》 40卷1期 (2019/02) Pp. 21-31

摘要

Indoor localization of mobile units is critical for subsequent task development of intelligent living technology. Wiimotes have been demonstrated as an effective localization medium and certain localization schemes have been developed. However, due to lack of ability in identifying individual characteristics of IRLEDs, the past schemes fail to report the correct position information if the wiimote passes a shielding zone. In this work, a novel wiimote localization scheme is proposed to overcome the above-mentioned concern. The scheme is based on kinematics and coordinates transformation for locating the absolute displacement and this avoid the possible signal drifting during motion. Meanwhile, a controllable IR-LED array is designed to provide a convenient way for determining the specific zone in a virtually undistinguishable living space. With this feature, it is possible to interpret the absolute coordinate and orientation of mobile carriers even if they pass through possible shielding zones. The scheme is verified by using a 2-axis servomotor and a self-designed IR LED array with regular moving patterns. Finally, the scheme is applied on an omni-wheel mobile robot for demonstrating its applicability in trajectory control, obstacle avoidance for multi-robot path planning, and sensor fusions. The results indicated that the proposed scheme should be helpful in localization of moving objects in indoor living space applications.

關鍵字

Wiimote ； IR LED ； Positioning ； Mobile Robots ； Collision avoidance ； Navigations

並列摘要

為提升室內機器人於室內環境運作的可靠度，需依賴高精度之室內定位技術，本論文發展一改良型Wiimote 2D室內定位技術，結合可控式IR陣列於Wiimote室內定位系統，建立一室內的絕對座標系統作為本定位系統的定位演算法之依據，以擴展機器人在室內移動的運用性。除此之外，本文也發展一套機器人路徑規劃演算法，運用位能場的特性使機器人能夠於動態及靜態的環境中完成自主規畫路徑。最後整合全向移動載具發展人機介面，提升使用者與機器人之間的互動效果，改善機器人操作時的便利性，達到智慧服務生活之目的。本文所發展的定位系統定位精度可維持在公分等級，透過該定位系統之高定位精度特性，配合路徑規劃使得載具成功執行所希望的任務移位，有效提升使用者在操作機器人時的可控性與可觀性。