재난 구조용 다중 로봇을 위한 GNSS 음영지역에서의 TWR 기반 협업 측위 기술

Abstract

For a practical mobile robot team such as carrying out a search and rescue mission in a disaster area, the localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a global positioning system (GPS) is unavailable. The proposed architecture supports localizing robots seamlessly by finding their relative locations while moving from a global outdoor environment to a local indoor position. The proposed schemes use a cooperative positioning system (CPS) based on the two-way ranging (TWR) technique. In the proposed TWR-based CPS, each non-localized mobile robot act as tag, and finds its position using bilateral range measurements of all localized mobile robots. The localized mobile robots act as anchors, and support the localization of mobile robots in the GPS-shadow region such as an indoor environment. As a tag localizes its position with anchors, the position error of the anchor propagates to the tag, and the position error of the tag accumulates the position errors of the anchor. To minimize the effect of error propagation, this paper suggests the new scheme of full-mesh based CPS for improving the position accuracy. The proposed schemes assuring localization were validated through experiment results.