TY - GEN
T1 - Distance sensing for mini-robots
T2 - 2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011
AU - Perkins, C.
AU - Lei, L.
AU - Kuhlman, M.
AU - Lee, T. H.
AU - Gateau, G.
AU - Bergbreiter, S.
AU - Abshire, P.
PY - 2011
Y1 - 2011
N2 - This paper reports a compact, robust distance-only sensor for networked small robotic platforms. Two methods of sensing distance (neglecting heading) between robots are discussed: Received Signal Strength Indicator (RSSI) and Time Difference of Arrival (TDOA). Both implementations make use of a commercially available wireless sensor network board for communication and processing. Although RSSI requires no additional hardware, TDOA requires several additional components including a sound source and microphone. While experimental results indicate that both methods can provide distance sensing within a local neighborhood, TDOA sensing was found to be more robust and accurate, providing 1 cm distance resolution over a range of 80 cm versus 2.4 cm for RSSI. These sensors have been integrated onto mini-robotic platforms by incorporating a heading estimator and controller.
AB - This paper reports a compact, robust distance-only sensor for networked small robotic platforms. Two methods of sensing distance (neglecting heading) between robots are discussed: Received Signal Strength Indicator (RSSI) and Time Difference of Arrival (TDOA). Both implementations make use of a commercially available wireless sensor network board for communication and processing. Although RSSI requires no additional hardware, TDOA requires several additional components including a sound source and microphone. While experimental results indicate that both methods can provide distance sensing within a local neighborhood, TDOA sensing was found to be more robust and accurate, providing 1 cm distance resolution over a range of 80 cm versus 2.4 cm for RSSI. These sensors have been integrated onto mini-robotic platforms by incorporating a heading estimator and controller.
UR - https://www.scopus.com/pages/publications/79960880836
U2 - 10.1109/ISCAS.2011.5937980
DO - 10.1109/ISCAS.2011.5937980
M3 - Conference contribution
SN - 9781424494736
T3 - Proceedings - IEEE International Symposium on Circuits and Systems
SP - 1984
EP - 1987
BT - 2011 IEEE International Symposium of Circuits and Systems, ISCAS 2011
Y2 - 15 May 2011 through 18 May 2011
ER -