Relative Orientation and Position Detections Based on an RGB-D Sensor and Dynamic Cooperation Strategies for Jumping Sensor Nodes Recycling

Sensors

Jun Zhang¹  Xi Yang²  Guang-Ming Song²  Tian-Yuan Chen²  Yong Zhang² 

[1] School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China;

关键词: wireless sensor network;    jumping robot;    relative localization;    relative orientation detection;    Kinect;    motion capture;    dynamic cooperation;    sensor node recycling;    multi-robot docking;   

DOI  :  10.3390/s150923618

来源: mdpi

【 摘 要 】

This paper presents relative orientation and position detection methods for jumping sensor nodes (JSNs) recycling. The methods are based on motion captures of the JSNs by an RGB-D sensor mounted on a carrier robot and the dynamic cooperation between the carrier and the JSNs. A disc-like label with two different colored sides is mounted on the top of the JSNs. The RGB-D sensor can detect the motion of the label to calculate the orientations and positions of the JSNs and the carrier relative to each other. After the orientations and positions have been detected, the JSNs jump into a cabin mounted on the carrier in dynamic cooperation with the carrier for recycling. The performances of the proposed methods are tested with a prototype system. The results show that the carrier can detect a JSN from up to 2 m away and sense its relative orientation and position successfully. The errors of the JSN’s orientation and position detections relative to the carrier could be reduced to the values smaller than 1° and 1 cm, respectively, by using the dynamic cooperation strategies. The proposed methods in this paper could also be used for other kinds of mobile sensor nodes and multi-robot systems.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.