Indoor Localization for Swarm Robotics with Communication Metrics Without Initial Position Information

Turkoral T., TAMER Ö., Yetis S., ÇETİN L.

2nd International Conference on Mechatronics and Robotics Engineering (ICMRE), Nice, Fransa, 18 - 22 Şubat 2016, ss.207-215 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Doi Numarası: 10.1007/978-3-319-33581-0_16
  • Basıldığı Şehir: Nice
  • Basıldığı Ülke: Fransa
  • Sayfa Sayıları: ss.207-215
  • Anahtar Kelimeler: Swarm robotics, Positioning, Localization
  • Dokuz Eylül Üniversitesi Adresli: Evet

Özet

Swarm robotics is an emerging research field with many scientific and commercial application areas. Swarm robotic systems are composed of simple robots cooperatively accomplishing the given task. The cooperation and the organization of the robots require the location information of the robots; so that each robot will be able to achieve the task it is responsible. The main of this work is an indoor positioning for swarm robotic applications using standard metrics for Bluetooth or Wi Fi communication infrastructures. The main work includes fusion of several position estimation methods by setting a proper weight to each method; this paper presents the work on estimating the location by using TDoA and RSSI parameters.