LiDAR-Based Localization for Formation Control of Multi-Robot Systems

Abstract

Controlling the formation of several mobile robots allows for the connection of these robots to a larger virtual unit. This enables the group of mobile robots to carry out tasks that a single robot could not perform. In order to control all robots like a unit, a formation controller is required, the accuracy of which determines the performance of the group. As shown in various publications and our previous work, the accuracy and control performance of this controller depends heavily on the quality of the localization of the individual robots in the formation, which itself depends on the ability of the robots to locate themselves within a map. Other errors are caused by inaccuracies in the map. To avoid any errors related to the map or external sensors, we plan to calculate the relative positions and velocities directly from the LiDAR data. To do this, we designed an algorithm which uses the LiDAR data to detect the outline of individual robots. Based on this detection, we estimate the robots pose and combine this estimate with the odometry to improve the accuracy. Lastly, we perform a qualitative evaluation of the algorithm using a Faro laser tracker in a realistic indoor environment, showing benefits in localization accuracy for environments with a low density of landmarks.

Human–Robot Interaction in Industrial Settings: Perception of Multiple Participants at a Crossroad Intersection Scenario with Different Courtesy Cues

“…The main specifications of the MiR 200 used for conducting the experiments are: weight (without load) of 65 kg; maximum speed forwards of 1.1 m/s; maximum speed backwards of 0.3 m/s; battery running time 10 h (or 15 km continuous driving); charging time with charge station up to 3.0 h ((0-80%): 2.0 h); charging time with cable up to 4.5 h ((0-80%): 3.0 h) [23]. The MiR 200 is a nonholonomic wheeled mobile robot (WMR) with a rectangular configuration, controlling its movement speed based on wheel odometry, with six wheels in total: one omnidirectional swivel wheel in each corner; and two driving wheels (differential control) in the center of the platform to ensure the stability of the mobile robot when it rotates [24][25][26][27][28]. The robot adjusts how much power is sent to each motor based on sensory input.…”

“…The robot adjusts how much power is sent to each motor based on sensory input. The robot is equipped with two ISO 13849-certified SICK S300 safety laser scanners, one in the front left corner and another one in the rear right corner, offering The MiR 200 is a nonholonomic wheeled mobile robot (WMR) with a rectangular configuration, controlling its movement speed based on wheel odometry, with six wheels in total: one omnidirectional swivel wheel in each corner; and two driving wheels (differential control) in the center of the platform to ensure the stability of the mobile robot when it rotates [24][25][26][27][28]. The robot adjusts how much power is sent to each motor based on sensory input.…”

“…The robot is equipped with two ISO 13849-certified SICK S300 safety laser scanners, one in the front left corner and another one in the rear right corner, offering 360 • visual protection around the robot (Figure 2a); two Intel RealSense TM D435 3D cameras on the front of the robot for the detection of objects vertically up to 1800 mm at a distance of 1950 mm in front of the robot (Figure 2b), and with an angle of 118 • in the horizontal field of view (FoV) at 180 mm height from the floor (Figure 2c); and four ultrasound sensors, two placed at the front of the robot and two placed at the rear of the robot [23,27,29]. The MiR 200 is a nonholonomic wheeled mobile robot (WMR) with a rectangular configuration, controlling its movement speed based on wheel odometry, with six wheels in total: one omnidirectional swivel wheel in each corner; and two driving wheels (differential control) in the center of the platform to ensure the stability of the mobile robot when it rotates [24][25][26][27][28]. The robot adjusts how much power is sent to each motor based on sensory input.…”