A Minimalist Self-Localization Approach for Swarm Robots Based on Active Beacon in Indoor Environments

Author:

Duan Mengyuan1,Lei Xiaokang1,Duan Zhongxing1,Zheng Zhicheng2

Affiliation:

1. College of Information and Control Engineering, Xi’an University of Architecture and Technology, Xi’an 710311, China

2. School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China

Abstract

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°.

Funder

The National Natural Science Foundation of China

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry

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