Rotation Angle Determination of a Rectangular Object Using an Infrared Sensorial System

Mobile robots are extensively approached as investigation topic in various research laboratories, due to their diverse applications. Currently, the interest is focused toward applications of mobile robots within unstructured working environments. The successful running of this type of applications is subject to the possibility of localizing obstacles within the working environment. This paper deals with a method to determine the position and the orientation of a rectangular object with respect to several infrared sensorial elements. Locating an object expects the determination of the reference frame coordinates of this object and of the object orientation relative to the axes of a coordinate system.