제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제18권8호
  • /
  • Pages.725-730
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  • 2012
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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무선 센서 네트워크 기반 군집 로봇의 협조 행동을 위한 위치 측정

Localization for Cooperative Behavior of Swarm Robots Based on Wireless Sensor Network

  • 탁명환 (군산대학교 대학원 전자정보공학부) ;
  • 주영훈 (군산대학교 제어로봇공학과)
  • 투고 : 2012.05.15
  • 심사 : 2012.06.30
  • 발행 : 2012.08.01
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초록

In this paper, we propose the localization algorithm for the cooperative behavior of the swarm robots based on WSN (Wireless Sensor Network). The proposed method is as follows: First, we measure positions of the L-bot (Leader robot) and F-bots (Follower robots) by using the APIT (Approximate Point In Triangle) and the RSSI (Received Signal Strength Indication). Second, we measure relative positions of the F-bots against the pre-measured position of the L-bot by using trilateration. Then, to revise a position error caused by noise of the wireless signal, we use the particle filter. Finally, we show the effectiveness and feasibility of the proposed method though some simulations.

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참고문헌

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피인용 문헌

  1. Optimal Region Deployment for Cooperative Exploration of Swarm Robots vol.22, pp.6, 2012, https://doi.org/10.5391/JKIIS.2012.22.6.687
  2. Error Correction Algorithm of Position-Coded Pattern for Hybrid Indoor Localization vol.19, pp.2, 2013, https://doi.org/10.5302/J.ICROS.2013.19.2.119
  3. Enhanced Indoor Positioning Algorithm Using WLAN RSSI Measurements Considering the Relative Position Information of AP Configuration vol.19, pp.2, 2013, https://doi.org/10.5302/J.ICROS.2013.19.2.146
  4. Hybrid TDOA/AOA Localization Algorithm for GPS Jammers vol.20, pp.1, 2014, https://doi.org/10.5302/J.ICROS.2014.13.1943
  5. Formation Control for Swarm Robot using Radius of Curvature vol.31, pp.11, 2014, https://doi.org/10.7736/KSPE.2014.31.11.1023
  6. Formation Control Algorithm for Swarm Robots Using Virtual Force vol.63, pp.10, 2014, https://doi.org/10.5370/KIEE.2014.63.10.1428