A Breadcrumb System for Assisting Outdoor Autonomous Robots with Path Identification and Localization
A Breadcrumb System for Assisting Outdoor Autonomous Robots with Path Identification and Localization
复制标题
协助户外自主机器人进行路径识别和定位的面包屑系统
DOI：
10.1109/southeastcon45413.2021.9401846
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Aidan F. Browne
中科院分区：
文献类型：
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作者：
David P. Grabowsky;J. Conrad;Aidan F. Browne
许多户外自主机器人应用依赖于全球导航卫星系统（GNSS），或者更具体地全球定位系统（GPS）来定位机器人。然而，这些系统通常难以提供一米以下的精确测量。因此，额外的传感器与GNSS测量融合，以提高定位的准确性。这些设备可以包括激光测距仪、视觉相机和无线信标。无线信标需要额外的设置时间，但对于可能需要由自主机器人快速确定和穿越路径的环境来说是一个有吸引力的选择。我们提出了一个系统的无线信标称为面包屑。该系统旨在部署在户外环境中，并以面包屑GPS位置，无线测距和路径规划数据的形式为自主机器人提供定位信息。此外，我们详细介绍了一种算法，使我们能够减少面包屑网络所需的GPS模块的数量，使得只有每隔一个面包屑需要一个模块，同时仍然保持每个面包屑的GPS位置。该算法还可以用于GPS模块故障或网络中的不稳定连接的情况，其中每个设备都配备有GPS。
Many outdoor autonomous robotic applications rely on Global Navigation Satellite Systems (GNSS), or more specifically Global Position Systems (GPS), to localize the robot. However, these systems typically have difficulty in providing accurate measurements under one meter. Hence, additional sensors are fused with GNSS measurements to increase the accuracy of localization. These devices can include, laser range-finders, vision cameras, and wireless beacons. Wireless beacons require additional setup time but are an attractive option for environments where a path may need to be determined and traversed quickly by an autonomous robot. We present a system of wireless beacons dubbed Breadcrumb. The system is designed to be deployed in outdoor environments and provide localization information to autonomous robots in the form of: Breadcrumb GPS locations, wireless ranging, and path planning data. In addition, we detail a algorithm which allows us to reduce the number of GPS modules required by the Breadcrumb network such that only every other Breadcrumb requires a module, while still maintaining the GPS location of each Breadcrumb. This algorithm could also be used in the case of a GPS module failure or spotty connection in networks where every device is equipped with a GPS.