Design of Wiimote indoor localization technology for omni-directional vehicle trajectory control

摘要

Accurate motion sensing is essential for trajectory control of indoor service mobile carriers for realizing smart living. In this work, a modified Wiimote-based 2D localization scheme is proposed and experimentally validated for indoor mobile robots tracking and control tasks. This scheme utilizes one Wiimote to monitor the position of at least two IR LEDs simultaneously for determining both translation and rotation motions of the Wiimote-mounted carrier. An algorithm is developed for converting the Wiimote readouts to the position and orientation of the corresponding mobile unit based on major axes identification, coordinate transformation, and position updating. The scheme and the algorithm are validated by tracking the Wiimote location on a two-axis linear servomotor. Finally, by integrating this global positioning scheme with feedback control, trajectory tracking of an omni-wheel based mobile robot is performed to demonstrate the importance of the scheme in indoor smart living technology.