Mobile robot swarming using radio signal strength measurements and dead-reckoning

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Abstract

The mobile robots considered in this thesis are six legged "Zebro" robots. These mobile robots will use Radio Signal Strength (RSS) measurements to determine the distances towards other mobile robots and radio beacons placed in the surroundings. A combination of distance measurements and dead-reckoning is used to perform a localization of the relative positions of the other mobile robots in the neighbourhood. The focus of the localization algorithm is to deal with a bad performance of the distance estimation, because this will result in uncertain position estimations. With knowledge about the bad performance of the localization an according suitable swarm algorithm is designed. This swarm algorithm is will also be used to test how valuable the position estimations can be as an addition to already existing swarm algorithms.

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