Development of a Real Time Locating System Using PSD under Indoor Environments

This paper considers a new positioning sensor using position sensitive detector (PSD) under indoor environments. The system consists of PSD module which is attached on the ceiling and infrared (IR) projector modules attached on the interested object, and all modules are connected by wireless communication. In this system, the PSD module detects and determines location of the IR projector module with its light source, and the IR projector module receives its own location information from the PSD module. In particular, the developed system is implemented on the embedded system and it is small, simple, inexpensive and robust localization system. We applied this system to mobile robot navigation on indoor environment, and the experimental results shows the effectiveness of this system