Abstract
This paper presents relative orientation and position detection methods for jumping sensor nodes (JSNs) recycling. The methods are based on motion captures of the JSNs by an RGB-D sensor mounted on a carrier robot and the dynamic cooperation between the carrier and the JSNs. A disc-like label with two different colored sides is mounted on the top of the JSNs. The RGB-D sensor can detect the motion of the label to calculate the orientations and positions of the JSNs and the carrier relative to each other. After the orientations and positions have been detected, the JSNs jump into a cabin mounted on the carrier in dynamic cooperation with the carrier for recycling. The performances of the proposed methods are tested with a prototype system. The results show that the carrier can detect a JSN from up to 2 m away and sense its relative orientation and position successfully. The errors of the JSN’s orientation and position detections relative to the carrier could be reduced to the values smaller than 1° and 1 cm, respectively, by using the dynamic cooperation strategies. The proposed methods in this paper could also be used for other kinds of mobile sensor nodes and multi-robot systems.
Highlights
Wireless sensor networks (WSNs) can provide quick construction and easy utilization for measurement systems
Because we focus the short-distance relative orientation and position detections in this paper, we assume that the initial distance between the jumping sensor nodes (JSNs) and the carrier is within 2 m after the carrier moves to the JSN using long-distance localization and navigation methods
We propose short-distance relative orientation and position detection methods between a carrier robot and jumping sensor nodes during JSNs recycling
Summary
Wireless sensor networks (WSNs) can provide quick construction and easy utilization for measurement systems. Miniature jumping robots inspired by creatures such as locusts [19], froghoppers [20], and fleas [21] can be adopted as MSNs, which could overcome obstacles several times taller or wider than their bodies Sensor nodes with this locomotion capability can jump over obstacles or jump up onto the top of obstacles to improve signal quality and network connection of the MWSN [12]. The difficulties during recycling include relative orientation and position detections between the MSNs and the carrier, and the docking method design. We present JSNs recycling by a wheeled carrier robot, including short-distance orientation and position detection methods.
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