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.

Additional Colony Scout Materials

Colony Scout Homepage

Bill of Materials

Mechanical Platform

IR Sensor Array

Colony Scout Localization and Orientation

Design Validation & Course Testing

Efficient Communication over Mesh Network