scholarly journals A TIGHTLY COUPLED HEADING AND POSITIONING SYSTEM FOR INDOOR NAVIGATION OF MOBILE ROBOTS

2021 ◽  
Vol 29 (3) ◽  
pp. 346-355
Author(s):  
Hikmet YÜCEL ◽  
Rifat EDİZKAN ◽  
Ahmet YAZİCİ
Keyword(s):  
Mobile Robots ◽  
Indoor Navigation ◽  
Positioning System ◽  
Tightly Coupled

Self-Positioning System for Mobile Robots Using ROS-RTM Collaboration

2021 ◽  
Vol 2021 (0) ◽  
pp. 1P2-D06
Author(s):  
Yoshiaki SESHIME ◽  
Tomohiro KANEKO ◽  
Koichiro KATO ◽  
Nobuto MATSUHIRA
Keyword(s):  
Mobile Robots ◽  
Positioning System

scholarly journals A Multi-Robot Formation Platform based on an Indoor Global Positioning System

2019 ◽  
Vol 9 (6) ◽  
pp. 1165
Author(s):  
Hong’an Yang ◽  
Xuefeng Bao ◽  
Shaohua Zhang ◽  
Xu Wang
Keyword(s):  
Mobile Robot ◽  
Global Positioning System ◽  
Formation Control ◽  
Transmission Control Protocol ◽  
Indoor Navigation ◽  
Wheeled Mobile Robot ◽  
Positioning System ◽  
Position Information ◽  
Global Positioning ◽  
Multi Robot

Aimed at the problem that experimental verifications are difficult to execute due to lacking effective experimental platforms in the research field of multi-robot formation, we design a simple multi-robot formation platform. This proposed general and low-cost multi-robot formation platform includes the indoor global-positioning system, the multi-robot communication system, and the wheeled mobile robot hardware. For each wheeled mobile robot in our platform, its real-time position information in the centimeter‑level precise is obtained by the Marvelmind Indoor Navigation System and orientation information is obtained by the six-degree-of-freedom gyroscope. The Transmission Control Protocol/Internet Protocol (TCP/IP) wireless communication infrastructure is selected to support the communication among robots and the data collection in the process of experiments. Finally, a set of leader–follower formation experiments are performed by our platform, which include three trajectory tracking experiments of different types and numbers under deterministic environment and a formation-maintaining experiment with external disturbances. The results illustrate that our multi-robot formation platform can be effectively used as a general testbed to evaluate and verify the feasibility and correctness of the theoretical methods in the multi-robot formation. What is more, the proposed simple and general formation platform is beneficial to the development of platforms in the fields of multi-robot coordination, formation control, and search and rescue missions.

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