RF-Based Relative Localization for Robot Swarms
نویسندگان
چکیده
We evaluate the radio signal strength indicator (RSSI) of an nRF5188 based robot swarm for relative localization. We discuss an efficient way of high-speed data collection with up to 40,000 RSSI samples per second. Semi-automatic radio parameter selection as well as robot-assisted data collection methods are presented. Furthermore, we show our collected data including the variance for selected outdoor experiments. The resulting data is used to fit a novel sigmoid based power vs. log-distance model, which in turn is the foundation of a centralized anchor-free localization algorithm. We present a simple gradient descent based localization approach which is computationally simple, easily extensible to distributed swarms, and scales efficiently to large number of robots in a swarm.
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