A Minimalist Self-Localization Approach for Swarm Robots Based on Active Beacon in Indoor Environments
发布时间：2024-08-09
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- 所属单位：
- 信息与控制工程学院
- 发表刊物：
- SENSORS
- 关键字：
- swarm robots; visual localization; optical beacon; self-localization; indoor environment
- 摘要：
- When performing indoor tasks, miniature swarm robots are suffered from their small size, poor on-board computing power, and electromagnetic shielding of buildings, which means that some traditional localization methods, such as global positioning system (GPS), simultaneous localization and mapping (SLAM), and ultra-wideband (UWB), cannot be employed. In this paper,a minimalist indoor self-localization approach for swarm robots is proposed based on active optical beacons. A robotic navigator is introduced into a swarm of robots to provide locally localization services by actively projecting a customized optical beacon on the indoor ceiling, which contains the origin and the reference direction of localization coordinates. The swarm robots observe the optical beacon on the ceiling via a bottom-up-view monocular camera, and extract the beacon information on-board to localize their positions and headings. The uniqueness of this strategy is that it uses the flat, smooth, and well-reflective ceiling in the indoor environment as a ubiquitous plane for displaying the optical beacon; meanwhile, the bottom-up view of swarm robots is not easily blocked.Real robotic experiments are conducted to validate and analyze the localization performance of the proposed minimalist self-localization approach. The results show that our approach is feasible and effective, and can meet the needs of swarm robots to coordinate their motion. Specifically, for the stationary robots, the average position error and heading error are 2.41 cm and 1.44◦; when the robots are moving, the average position error and heading error are less than 2.40 cm and 2.66◦.
- 合写作者：
- 郑志成
- 第一作者：
- 段中兴,雷小康
- 论文类型：
- 期刊论文
- 卷号：
- 23/10/18
- 是否译文：
- 否
- 发表时间：
- 2023-05-20