Print Email Facebook Twitter Evaluating different localization methods for robotic swarming Title Evaluating different localization methods for robotic swarming Author Dukker, Sven (TU Delft Electrical Engineering, Mathematics and Computer Science) Minten, Melle (TU Delft Electrical Engineering, Mathematics and Computer Science) Contributor Venkatesha Prasad, Ranga Rao (mentor) Simha, A. (mentor) Degree granting institution Delft University of Technology Programme Electrical Engineering Date 2022-06-21 Abstract Localization is an important element for a moving swarm of robots. A swarm contains many individuals, and it is essential that the swarm members do not collide. Expensive and complex implementations to localize others is undesirable. Hence, a localization system designed using the available resources is desired. The available techniques that have been analysed are Received Signal Strength Indicator (RSSI), Time difference of arrival (TDOA) using the ESP-NOW protocol and a spinning time of flight (TOF) sensor. The spinning TOF sensor showed to be the most promising, with close range distance detection only containing a maximum errors of 5cm. The sensor is implemented as a cheap LiDAR system by mounting it to the front of the robot, which spins around its own axis. An IMU is responsible for keeping track of the orientation of the TOF sensor. Furthermore, two small algorithms were designed and compared in order to process the TOF data. Subject SwarmLocalizationRSSITOFESP-NOWTDOATime of Flight To reference this document use: http://resolver.tudelft.nl/uuid:2594e459-89ab-40eb-a3ba-20a6c9903056 Coordinates 51.99889875417861 Part of collection Student theses Document type bachelor thesis Rights © 2022 Sven Dukker, Melle Minten Files PDF BAP_Thesis_Localization.pdf 1.92 MB Close viewer /islandora/object/uuid:2594e459-89ab-40eb-a3ba-20a6c9903056/datastream/OBJ/view