SnailBotのための相対位置推定システム設計：モジュール型自己再構成ロボット
Relative Localization System Design for SnailBot: A Modular Self-reconfigurable Robot
モジュール型自己再構成ロボットSnailBot向けに、ArUcoマーカー認識・オプティカルフロー・IMUを統合した相対位置推定システムを設計し、実時間動作を実験的に検証した。
著者: Shuhan Zhang
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
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.