| Issue |
MATEC Web of Conferences
Volume 54, 2016
2016 7th International Conference on Mechanical, Industrial, and Manufacturing Technologies (MIMT 2016)
|
|
|---|---|---|
| Article Number | 02002 | |
| Number of page(s) | 6 | |
| Section | Robot design and development technology | |
| DOI | https://doi.org/10.1051/matecconf/20165402002 | |
| Published online | 22 April 2016 | |
A decentralized localization scheme for swarm robotics based on coordinate geometry and distributed gradient descent
1 University of Science - Ho Chi Minh City, 227 Nguyen Van Cu, Dist. 5, Vietnam
2 The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182–8585, Japan
In this paper, a decentralized localization scheme using coordinate geometry and distributed gradient descent (DGD) algorithm is presented. Coordinate geometry is proposed to provide a rough estimation of robots’ location instead of the traditional trigonometry approach, which suffers from flip and discontinuous flex ambiguity. Then, these estimations will be used as initial values for DGD algorithm to determine robots’ real position. Evaluated results on real mobile robots show an average mean error of 2.56 cm, which is closed to the minimum achievable accuracy of the testing platform (2 cm). For a team of eight robots, the total average run time of the proposed scheme is 66.7 seconds. Finally, its application in swarm robotics is verified by experimenting with a self-assembly algorithm named DASH.
© Owned by the authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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