1 research outputs found
Towards a Radio-Based Swarm Navigation System on Mars – Key Technologies and Performance Assessment
Robust localization and navigation are essential for
the success of robotic exploration, especially in remote and
harsh environments. Navigation in feature-less areas becomes
challenging when laser scanners or cameras can not provide
relative or global localization. Moreover, complementary positioning
solutions like a Global Navigation Satellite System or
mobile radio based localization are not available on Mars. State
of the art systems focus on single partial autonomous robots for
specific scientific tasks, e.g., the Curiosity rover.
We propose autonomous robotic swarms as promising approach
to explore the Valles Marineris canyon system. Our
swarm navigation uses relative radio positioning and return-tobase
navigation, exploiting wireless signals in a smart fashion
and aims to complement existing laser/camera based solutions.
It employs a hybrid time-division access and frequency-division
multiple access scheme with interleaved round-trip delay ranging
measurements. Ranging measurements are online processed in a
distributed particle filter with local, partial connectivity to surrounding
swarm elements. Furthermore, our swarm navigation
is jointly designed for localization and communication. Thus, the
very same wireless links used for ranging are simultaneously used
for high-rate communications among swarm elements.
The performance of our approach is evaluated through simulations
and with real measurement data obtained from our
ranging prototype. We achieve sub-meter accuracy for anchorfree
localization which highlights our promising and applicable
solution for robotic swarms