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Proceedings Paper

Localization method of microrobots using vision system and wavelet transform
Author(s): Jean-Christophe Ravassard; Sounkalo Dembele; Patrick Sandoz; Andre Janex; Nadine Piat
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Paper Abstract

This paper addresses the localization problem in mobile robotics and microrobotics, which is necessary to be resolved for closed loop identification and control. An original method is developed which uses the image of a specific pattern and a signal processing method based on wavelet transforms. The pattern is made of two calibrated networks of straight lines perpendicular with respect to each other and which constitutes a reference phase excursion. With an adapted processing technique, a straight line equation is computed for each network characterizing its position as well as its orientation with a high accuracy. The intersection of those two perpendicular lines defines the mobile robot position and heading whose movement is studied. That technique leads to promising results: sub- micrometer accuracy in the position measurement.

Paper Details

Date Published: 18 August 1999
PDF: 6 pages
Proc. SPIE 3834, Microrobotics and Microassembly, (18 August 1999); doi: 10.1117/12.357827
Show Author Affiliations
Jean-Christophe Ravassard, Lab. d'Automatique de Besancon (France)
Sounkalo Dembele, Lab. d'Automatique de Besancon (France)
Patrick Sandoz, Univ. de Franche-Comte (France)
Andre Janex, Lab. d'Automatique de Besancon (France)
Nadine Piat, Lab. d'Automatique de Besancon (France)


Published in SPIE Proceedings Vol. 3834:
Microrobotics and Microassembly
Bradley J. Nelson; Jean-Marc Breguet, Editor(s)

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