Precise Coordinated Localization for Swarm Robots via Multidimensional Scaling and Wireless Sensor Networks

摘要

Precise localization has always been a fundamental and vital problem for swarm robots to perform their tasks. In this work we propose a solution with both efficiency and practicability. Iterative multidimensional scaling (MDS) technique and wireless sensor networks (WSN) are combined to achieve accurate localization and auxiliary formation control. Iterative MDS algorithm is utilized to obtain the topology of the robot swarm, i.e., relative positions of all the robots. Radio frequency identification (RFID) is used as reference in the following coordinate transformation process. Then the global localization is achieved with high precision. With a better knowledge of the position of each other, the robots are able to maintain a more orderly formation during movement. The advantages of this method are that the initial point of iteration process is optimized and reference nodes are acquired in an efficient and reliable way. Simulation results have proved the success of the proposed approach.