用八颗红外光感器设计出可测距离与方向的全景视觉传感器。
Omnidirectional vision sensors based on catadioptric systems with discrete infrared photoreceptors for swarm robotics
- 用旋转对称镜面+8个红外光感器，分向上和向外两种布局。
- 向上布局更准测距离，向外布局更准测方向，两者皆全向可视。
- 适合微型机器人集群定位导航，无需复杂计算。
本文研制并研究了两种基于猫眼式系统（catadioptric systems）的全景视觉传感器，用于机器人集群的定位与导航。系统由具有旋转对称性的反射镜、八个离散红外光电二极管和一个单个LED组成。光感器有两种布置方式：一种朝上指向镜面，另一种垂直于镜面朝外。为比较两种设计在平面内的视场及两机器人间距离与方位的检测性能，搭建了三自由度测试平台，系统测量单次读数下，一个传感器的光感器接收来自另一发射源的信号随距离与角度的变化。随后分析实验数据，建立每种设计中光感器平均响应的数学模型，并通过数值反演比较两种方案的精度。结果表明，朝上布置的光感器在距离分辨上表现更优，朝外布置则在方位分辨上更佳，二者均提供全向视野。
原文摘要 · Abstract (English)
In this work, we fabricated and studied two designs for omnidirectional vision sensors for swarm robotics, based on catadioptric systems consisting of a mirror with rotational symmetry, eight discrete infrared photodiodes and a single LED, in order to provide localization and navigation abilities for mobile robotic agents. We considered two arrangements for the photodiodes: one in which they point upward into the mirror, and one in which they point outward, perpendicular to the mirror. To determine which design offers a better field of view on the plane, as well as detection of distance and orientation between two agents, we developed a test rail with three degrees of freedom to experimentally and systematically measure the signal registered by the photodiodes of a given sensor (in a single readout) from the light emitted by another as functions of the distance and orientation. Afterwards, we processed and analyzed the experimental data to develop mathematical models for the mean response of a photodiode in each design. Finally, by numerically inverting the models, we compared the two designs in terms of their accuracy. Our results show that the design with the photodiodes pointing upward resolves better the distance, while the other resolves better the orientation of the emitting agent, both providing an omnidirectional field of view.
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