Spatiotemporal Light Navigation System for Tracking Control of Mobile Robots

In this paper, we propose a spatiotemporal light navigation system for tracking control of a low-performance robot. The spatiotemporal light navigation system is composed of a projector and a mobile robot equipped with a light sensor. The projector casts a binary image on the field, and the mobile robot detects the information of the image via the light sensor and is supposed to decide its action by means of a simple embedded logic. First, we formulated the tracking control problem as a problem to design the casting image and sensor position of the robot. Then, we proposed a design method of casting images based on halftone image processing and analyzed the stability of the tracking control system. Finally, we experimented with verifying the effectiveness of the proposed method. Copyright (C) 2020 The Authors.