群ロボティクス向け離散赤外線受光素子を用いた反射屈折式全方向視覚センサ
Omnidirectional vision sensors based on catadioptric systems with discrete infrared photoreceptors for swarm robotics
回転対称ミラーと8個の赤外線フォトダイオード、LEDを組み合わせた2種類の全方向視覚センサを試作し、距離・方位の検出精度を実験的に比較した。
著者: Jose Fernando Contreras-Monsalvo, Victor Dossetti, Blanca Susana Soto-Cruz
分類: cs.RO, cond-mat.stat-mech, physics.ins-det
原文アブストラクト
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.