Development of a novel range and bearing system for robot swarms

Date

2023-12-07

Author

Şahin, Mehmet

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This thesis presents the design and evaluation of two novel range and bearing (RnB) systems specifically designed for swarm robots, addressing the challenges inherent to robotic interaction and navigation. Two different RnB are introduced: the first one has a pioneering range and bearing system equipped with twelve time-of-flight sensors, while the second one integrates eight advanced sensors with multi-zone distance measurement capability. A notable contribution is the robot detection algorithm that enables these systems to distinguish neighboring robots from other obstacles and accurately measure their distances using onboard microcontrollers. Furthermore, the use of Multi-Target Tracker (MTT) increased the utility of these systems by estimating the current pose and velocity of detected robots. Each system is designed to span 55 millimeters and weigh almost 10 grams, making it suitable for micro aerial vehicles and mobile robot swarms. Experiments were conducted to analyze range measurement, robot detection, and multi-target tracker performance. Finally, flocking algorithms were tested with MAV swarms and ground robot swarms to provide proof of concept of the system.

Subject Keywords

Swarm robotics, Range and bearing sensing, Relative localization, Micro-aerial vehicle swarm

URI

https://hdl.handle.net/11511/107814

Collections

Graduate School of Natural and Applied Sciences, Thesis