New class of onboard absolute orientation measurement sensor for robotic mobile platforms

Jahangir S Rastegar; Q. Jeffrey Ge; Carlos M. Pereira

doi:10.1117/12.515392

30 September 2003 New class of onboard absolute orientation measurement sensor for robotic mobile platforms

Jahangir S Rastegar, Q. Jeffrey Ge, Carlos M. Pereira

Proceedings Volume 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision; (2003) https://doi.org/10.1117/12.515392
Event: Photonics Technologies for Robotics, Automation, and Manufacturing, 2003, Providence, RI, United States

Abstract

This paper presents new class sensors for onboard direct measurement of the angular orientation of robotic mobile platforms relative to a fixed or moving coordinate system. The currently available sensors are either based on inertia, vision or optical means to measure the angular orientation of an object. The inertial based devices, however, generally suffer from drift and noise. The vision systems and optical sensors generally have relatively short range and require line-of-sight access. The novel class of sensors presented in this paper are wireless, are in the form of waveguides that are illuminated by polarized Radio Frequency sources. A mobile robotic platform equipped with three or more of such waveguide sensors can determine its 3D orientation relative to the ground or other mobile robotic platforms. The 3D orientation sensors require very low power for operation, may be located at relatively far distances from the ground source or the illuminating mobile platform, and can operate while out of line-of-sight of the illuminating source. In this paper, the design, operation, algorithms for calculating 3D angular orientation from the sensor output, and a number of experimental results of sensor performance are presented. In addition, a discussion of the methods to increase the performance of the sensor system and other related issues are provided.

Citation Download Citation

Jahangir S Rastegar, Q. Jeffrey Ge, and Carlos M. Pereira "New class of onboard absolute orientation measurement sensor for robotic mobile platforms", Proc. SPIE 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, (30 September 2003); https://doi.org/10.1117/12.515392

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
7 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Waveguides

Sensors

Waveguide sensors

Robotics

Position sensors

Antennas

Radar

Show All Keywords

Keywords/Phrases

Search In:

Publication Years