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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Localization for Cooperative Behavior of Swarm Robots Based on Wireless Sensor Network

무선 센서 네트워크 기반 군집 로봇의 협조 행동을 위한 위치 측정

  • 탁명환 (군산대학교 대학원 전자정보공학부) ;
  • 주영훈 (군산대학교 제어로봇공학과)
  • Received : 2012.05.15
  • Accepted : 2012.06.30
  • Published : 2012.08.01
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Abstract

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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References

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