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Sensors 2011, 11(5), 5416-5438;

Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces

Department of Electronics, University of Alcalá, Alcalá de Henares, Madrid, 28801, Spain
Author to whom correspondence should be addressed.
Received: 15 March 2011 / Revised: 14 May 2011 / Accepted: 16 May 2011 / Published: 18 May 2011
(This article belongs to the Special Issue Sensorial Systems Applied to Intelligent Spaces)
Full-Text   |   PDF [819 KB, uploaded 21 June 2014]


The aim of this work was to position a Mobile Robot in an Intelligent Space, and this paper presents a sensorial system for measuring differential phase-shifts in a sinusoidally modulated infrared signal transmitted from the robot. Differential distances were obtained from these phase-shifts, and the position of the robot was estimated by hyperbolic trilateration. Due to the extremely severe trade-off between SNR, angle (coverage) and real-time response, a very accurate design and device selection was required to achieve good precision with wide coverage and acceptable robot speed. An I/Q demodulator was used to measure phases with one-stage synchronous demodulation to DC. A complete set of results from real measurements, both for distance and position estimations, is provided to demonstrate the validity of the system proposed, comparing it with other similar indoor positioning systems. View Full-Text
Keywords: infrared position measurement; phase measurement; robots; sensors infrared position measurement; phase measurement; robots; sensors
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Gorostiza, E.M.; Lázaro Galilea, J.L.; Meca Meca, F.J.; Salido Monzú, D.; Espinosa Zapata, F.; Pallarés Puerto, L. Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces. Sensors 2011, 11, 5416-5438.

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