Multi-Robot Localization System using an Array of LEDs and LDR Sensors

摘要

a new positioning system for indoor multi-robot localization is proposed. This system solves the problem of localization by using an array of Light Emitting Diodes (LEDs) distributed uniformly in the environment. The localization is achieved by collecting the information from a group of Light Dependent Resistor (LDR) sensors with which the robot is equipped. The binary search algorithm is used to reduce the time of the localization process by controlling the lights of the LED array. The minimum bounded circle algorithm is used to draw a virtual circle from the information collected by the LDR sensors and the center of this circle represents the robot's location. This algorithm can be implemented in a multi-robot system when the main control unit can distinguish among the LDR sensors' information. In the case of unknown information, the K-means Clustering algorithm is used to separate this information into clusters. Each cluster can be used to estimate the location of one robot. The suggested system is simulated and practically implemented in an environment with (32*32) arrays of LEDs. The simulation and experimental results of this system show good performance in the localization process.