ON HEARING YOUR POSITION THROUGH LIGHT FOR MOBILE ROBOT INDOOR NAVIGATION

Abstract

Mobile Audio Commander (MAC) is a mobile phone-based multimedia sensing system that facilitates the introduction of extra sensors to existing mobile robots for advanced capabilities. In this paper, we use MAC to introduce an accurate indoor positioning sensor to a robot to facilitate its indoor navigation. More specifically, we use a projector to send out position ID through light signal, use a light sensor and the audio channel on a mobile phone to decode the position ID, and send navigation commands to a target robot through audio output. With this setup, our system can simplify user’s robot navigation. Users can define a robot navigation path on a phone, and our system will compare the navigation path with its accurate location sensor inputs and generate analog line-following signal, collision avoidance signal, and analog angular signal to adjust the robot’s straight movements and turns. This paper describes two examples of using MAC and a positioning system to enable complicated robot navigation with proper user interface design, external circuit design and real sensor installations on existing robots.