为模块化机器人SnailBot设计了融合多传感器的相对定位系统。
Relative Localization System Design for SnailBot: A Modular Self-reconfigurable Robot
- 用ArUco标记、光流和IMU数据构建融合定位框架。
- 实测在动态场景中实现稳定实时定位，保障协作任务可靠性。
- 适合研究可重构机器人协同定位的科研人员参考。
本文介绍了SnailBot——一种模块化自重构机器人的相对定位系统的设计与实现。该系统将ArUco标记识别、光流分析与惯性测量单元（IMU）数据处理集成到统一的融合框架中，实现了对协作任务中机器人间相对位置的鲁棒且精确的定位。实验验证表明，该系统在实时运行中表现有效，基于规则的融合策略确保了在动态场景下的可靠性。结果表明，该系统具备在模块化机器人系统中规模化部署的潜力。
原文摘要 · Abstract (English)
This paper presents the design and implementation of a relative localization system for SnailBot, a modular self reconfigurable robot. The system integrates ArUco marker recognition, optical flow analysis, and IMU data processing into a unified fusion framework, enabling robust and accurate relative positioning for collaborative robotic tasks. Experimental validation demonstrates the effectiveness of the system in realtime operation, with a rule based fusion strategy ensuring reliability across dynamic scenarios. The results highlight the potential for scalable deployment in modular robotic systems.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。