Layout optimization of a system for successive laser scanner detection and control of mobile robots

This paper describes a new, innovative method by which multiple mobile robots can be detected by a laser scanner. Each robot incorporates bars in its construction which generate a significant pattern in the laser scan. The proposed technique allows a robust detection and control of successively moving robots, despite the partial shadowing through the bars. In this paper the optimal number of bars and their best arrangement for detection is shown. Furthermore the impact of different bar diameters is described. Increased visibility of the bars by the use of multiple laser scanners and their positioning to ensure detection of the robots is also described. Finally it describes the accuracy that can be achieved with this system. The position accuracy was determined by trials on an actual system. Simulations and experiments confirm that this is a reliable and precise method for position determination of multiple robots using a single sensor.