Colony Scout Localization & Orientation¶
Localization and Orientation via the current BOM technology cannot be performed adequately. The current tech requires a level operating plane between the sensor arrays on all of the robots. Given the move to a non-level course, the localization scheme would fail.
Several more robust methods of localization have been suggested, most always involving a reference beacon of some point. Two main ways of accomplishing this have arisen:
- Robots drop off a static beacon station (2 beacons, known geometry) from which X-Y coordinates can be referenced.
- Colony carrier has reference beacons (known geometry) onboard, stays in place for static reference.
The advantage of the Colony carrier, besides a larger power source, is the possibility of a GPS module, allowing ALL robots to have absolute positioning. This would be a great asset to navigation if the colony moves outside of the lab setting and onto the CMU campus.