Evaluating different localization methods for robotic swarming
S.H.W. Dukker (TU Delft - Electrical Engineering, Mathematics and Computer Science)
M. Minten (TU Delft - Electrical Engineering, Mathematics and Computer Science)
Rangarao Venkatesha Prasad – Mentor (TU Delft - Embedded Systems)
A. Simha – Mentor (TU Delft - Embedded Systems)
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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.