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In recent years, many researches have been performed on indoor autonomous mobile robots, and accurate self-location estimation is required for this purpose. It is necessary to have a system that makes landmarks that exist in all places and that can detect positions easily and clearly. Therefore, in this paper we propose a position estimation method using photodiodes and LED illumination. In one of our previous method, two photodiodes and one LED lighting were used, and it depended on the maximum value of the illuminance just under the LED lighting. However, as the characteristic of LED lighting changes the maximum value of illuminance depending on time, it was necessary to periodically measure and update the maximum value of illuminance. In this study, we used two photodiodes to realize a method to estimate the position irrespective of the brightness variation of LED lighting. Moreover, since the system itself uses inexpensive photodiodes, it has a merit of low cost.

Proposal of Distance Measurement using Ceiling Light and Two Photodiodes to Conpensationg Light Variation