Advertisement

Microsystem Technologies

, Volume 25, Issue 2, pp 573–585 | Cite as

Cooperative localization and evaluation of small-scaled spherical underwater robots

  • Yanlin He
  • Lianqing ZhuEmail author
  • Guangkai Sun
  • Junfei Qiao
Technical Paper
  • 62 Downloads

Abstract

With the goal of supporting localization requirements of our spherical underwater robots, such as multi robot cooperation and intelligent biological surveillance, a cooperative localization system of multi robot was designed and implemented in this study. Given the restrictions presented by the underwater environment and the small-sized spherical robot, an time of flight camera and microelectro mechanical systems (MEMS) sensor information fusion algorithm using coordinate normalization transfer models were adopted to construct the proposed system. To handle the problem of short location distance, limited range under fixed view of camera in the underwater environment, a MEMS inertial sensor was used to obtain the attitude information of robot and expanding the range of underwater visual positioning, the transmission of positioning information could implement through the normalization of absolute coordinate, then the positioning distance increased and realized the localization of multi robot system. Given the environmental disturbances in practical underwater scenarios, the Kalman filter model was used to minimizing the systematic positioning error. Based on the theoretical analysis and calculation, we describe experiments in underwater to evaluate the performance of cooperative localization. The experimental results confirmed the validity of the multi robot cooperative localization system proposed in this paper, and the distance of cooperative localization system proposed in this paper is larger than the visual positioning system we have developed previously.

Notes

Acknowledgements

This work is supported by China Postdoctoral Science Foundation funded project (2018M631290). This research project was also partly supported by Program for Changjiang Scholars and Innovative Research Team in University (no. IRT_16R07), the Importation and Development of High-Caliber Talents Project of Beijing Municipal Institutions (no. IDHT20170510).

References

  1. Capitan J, Spaan MT, Merino L, Ollero A (2013) Decentralized multi-robot cooperation with auctioned POMDPs. Int J Robot Res 32(6):650–671CrossRefGoogle Scholar
  2. Forouher D, Besselmann MG, Maehle E (2017) Sensor fusion of depth camera and ultrasound data for obstacle detection and robot navigation. In: International conference on control, automation, robotics and vision, pp 1–6.  https://doi.org/10.1109/icarcv.2016.7838832
  3. Gao W, Liu Y, Xu B, Che Y (2014) An improved cooperative localization method for multiple autonomous underwater vehicles based on acoustic round-trip ranging. In: Position, location and navigation symposium—PLANS 2014, pp 1420–1423.  https://doi.org/10.1109/plans.2014.6851518
  4. Guo S, Mao S, Shi L, Li M (2012) Development of an amphibious mother spherical robot used as the carrier for underwater microrobots. ICME Int Conf Complex Med Eng.  https://doi.org/10.1109/iccme.2012.6275640 Google Scholar
  5. Guo S, He Y, Shi L, Pan S, Tang K, Xiao R, Guo P (2016) Modal and fatigue analysis of critical components of an amphibious spherical robot. Microsyst Technol 23(6):1–15Google Scholar
  6. Guo S, Pan S, Shi L, Guo P, He Y, Tang K (2017) Visual detection and tracking system for a spherical amphibious robot. Sensors 17(4):870CrossRefGoogle Scholar
  7. Guo S, He Y, Shi L, Pan S, Rui X, Tang K, Guo P (2018) Modeling and experimental evaluation of an improved amphibious robot with compact structure. Robot Comput Integr Manuf 51:37–52CrossRefGoogle Scholar
  8. Gupta M, Behera L, Subramanian VK, Mo MJ (2015) A robust visual human detection approach with UKF-based motion tracking for a mobile robot. IEEE Syst J 9(4):1363–1370CrossRefGoogle Scholar
  9. He Y, Shi L, Guo S, Pan S, Wang Z (2014) 3D printing technology-based an amphibious spherical underwater robot. In: Proceedings of 2014 IEEE international conference on mechatronics and automation, pp 1382–1387.  https://doi.org/10.1109/icma.2014.6885901
  10. He Y, Shi L, Guo S, Pan S, Wang Z (2016) Preliminary mechanical analysis of an improved amphibious spherical father robot. Microsyst Technol 22(8):2051–2066CrossRefGoogle Scholar
  11. Jiang J, Zhou L, Zhang J (2014) Multi-robot cooperation behavior decision based on psychological values. Sens Transducers 162(1):299–307Google Scholar
  12. Kalal Z, Mikolajczyk K, Matas J (2012) Tracking–learning–detection. IEEE Trans Pattern Anal Mach Intell 34(7):1409–1422CrossRefGoogle Scholar
  13. Li M, Guo S, Hirata H, Ishihara H (2015) Design and performance evaluation of an amphibious spherical robot. Robot Auton Syst 64:21–34CrossRefGoogle Scholar
  14. Li Y, Guo S, Wang Y (2017a) Design and characteristics evaluation of a novel spherical underwater robot. Robot Auton Syst 94:61–74CrossRefGoogle Scholar
  15. Li M, Guo S, Hirata H, Ishihara H (2017b) A roller-skating/walking mode-based amphibious robot. Robot Comput Integr Manuf 44:17–29CrossRefGoogle Scholar
  16. Lins R, Givigi S, Kurka P (2015) Vision-based measurement for localization of objects in 3-D for robotic applications. IEEE Trans Instrum Meas 64(11):2950–2955CrossRefGoogle Scholar
  17. Liu M, Siegwart R (2017) Topological mapping and scene recognition with lightweight color descriptors for an omnidirectional camera. IEEE Trans Robot 30(2):310–324CrossRefGoogle Scholar
  18. Liu W, Wang Y, Chen J (2012) A completely affine invariant image-matching method based on perspective projection. Mach Vis Appl 23(2):231–242CrossRefGoogle Scholar
  19. Pan S, Guo S, Shi L, Tang K, He Y (2016) An adaptive compressive tracking algorithm for amphibious spherical robots. IEEE Int Conf Mechatron Autom.  https://doi.org/10.1109/icma.2016.7558632 Google Scholar
  20. Paredes JA, Álvarez FJ, Aguilera T, Villadangos JM (2017) 3D indoor positioning of UAVs with spread spectrum ultrasound and time-of-flight cameras. Sensors 18(1):89.  https://doi.org/10.3390/s18010089 CrossRefGoogle Scholar
  21. Paredes JA, Álvarez FJ, Aguilera T, Villadangos JM (2018) 3D indoor positioning of UAVs with spread spectrum ultrasound and time-of-flight cameras. Sensors.  https://doi.org/10.3390/s18010089 Google Scholar
  22. Pellegrinelli S, Pedrocchi N, Tosatti LM, Fischer A, Tolio T (2017) Multi-robot spot-welding cells for car-body assembly: design and motion planning. Robot Comput Integr Manuf 44:97–116CrossRefGoogle Scholar
  23. Pérez-Alcocer RR, Torres-Méndez LA, Olguín-Díaz E, Maldonado-Ramírez AA (2016a) Vision-based autonomous underwater vehicle navigation in poor visibility conditions using a model-free robust control. Sensors.  https://doi.org/10.1155/2016/8594096 Google Scholar
  24. Pérez-Alcocer R, Torres-Méndez LA, Olguín-Díaz E, Maldonado-Ramírez AA (2016b) Vision-based autonomous underwater vehicle navigation in poor visibility conditions using a model-free robust control. Sensors.  https://doi.org/10.1155/2016/8594096 Google Scholar
  25. Shi L, Guo S, Mao S, Yue C, Li M, Asaka K (2013) Development of an amphibious turtle-inspired spherical mother robot. J Bionic Eng 10(4):446–455CrossRefGoogle Scholar
  26. Tang K, Shi L, Guo S, Pan S, Xing H, Su S, Guo P, Chen Z, He Y (2017) Vision locating method based RGB-D camera for amphibious spherical robots. IEEE Int Conf Mechatron Autom.  https://doi.org/10.1109/icma.2017.8016040 Google Scholar
  27. Tian X, Jiao L, Liu X, Zhang X (2014) Feature integration of EODH and Color-SIFT: application to image retrieval based on codebook. Signal Process Image Commun 29(4):530–545CrossRefGoogle Scholar
  28. Tsiogkas N, Saigol Z, Lane D (2015) Distributed multi-AUV cooperation methods for underwater archaeology. Oceans.  https://doi.org/10.1109/oceans-genova.2015.7271549 Google Scholar
  29. Wang C, Chen X, Xie G, Cao M (2017) Emergence of leadership in a robotic fish group under diverging individual personality traits. R Soc Open Sci 4(5):161015CrossRefGoogle Scholar
  30. Xing H, Guo S, Shi L, He Y, Su S, Chen Z, Hou X (2018) Hybrid locomotion evaluation for a novel amphibious spherical robot. Appl Sci 8(2):156CrossRefGoogle Scholar
  31. Yan W, Cui R, Xu D (2008) Formation control of under actuated autonomous underwater vehicles in horizontal plane. Proc IEEE Int Conf Autom Logist.  https://doi.org/10.1109/ical.2008.4636263 Google Scholar
  32. Yan G, Yu M, Yu Y, Fan L (2016) Real-time vehicle detection using histograms of oriented gradients and AdaBoost classification. Optik Int J Light Electron Opt 127(19):7941–7951CrossRefGoogle Scholar
  33. Yao Y, Xu D, Yan W (2009) Cooperative localization with communication delays for MAUVs. IEEE Int Conf Intell Comput Intell Syst.  https://doi.org/10.1109/icicisys.2009.5357852 Google Scholar
  34. Yu J, Wang C, Xie G (2016) Coordination of multiple robotic fish with applications to underwater robot competition. IEEE Trans Ind Electron 63(2):1280–1288CrossRefGoogle Scholar
  35. Zhang J, Han Y, Zheng C, Sun D (2016) Underwater target localization using long baseline positioning system. Appl Acoust 111:129–134.  https://doi.org/10.1016/j.apacoust.2016.04.009 CrossRefGoogle Scholar
  36. Zhao J, Netto M, Mili L (2018) A robust iterated extended Kalman filter for power system dynamic state estimation. IEEE Trans Power Syst 32(4):3205–3216CrossRefGoogle Scholar

Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Yanlin He
    • 1
    • 2
  • Lianqing Zhu
    • 1
    • 2
    Email author
  • Guangkai Sun
    • 1
    • 2
  • Junfei Qiao
    • 3
  1. 1.Beijing Engineering Research Center of Optoelectronic Information and InstrumentsBeijing Information Science and Technology UniversityBeijingChina
  2. 2.Bionic and Intelligent Equipment LabBeijing Information Science and Technology UniversityBeijingChina
  3. 3.Beijing University of TechnologyBeijingChina

Personalised recommendations