Design and Implementation an Indoor Robot Localization System Using Minimum Bounded Circle Algorithm

摘要

A new positioning system for indoor robot localization is proposed. This system solves the problem of localization by using an array of Light Emitting Diodes (LEDs) distributed uniformly in the environment. The localization is achieved by collecting the information from a group of Light Dependent Resistor (LDR) sensors with which the robot is equipped. The binary search algorithm is used to reduce the time of the localization process by controlling the lights of the LED array. The minimum bounded circle algorithm is used to draw a virtual circle from the information collected by the LDRs sensors and the center of this circle represents the robot's location. The suggested system is simulated on an environment with (32*32) LEDs arrays. The simulation results of this system show good performance in the localization process.