title: Relative Orientation and Position Detections Based on an RGB-D Sensor and Dynamic Cooperation Strategies for Jumping Sensor Nodes Recycling.
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.
authors.affiliation: School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. j-zhang@seu.edu.cn.
authors.forename: Jun
authors.initials: J
authors.lastname: Zhang
authors.affiliation: School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. yangxigreat@163.com.
authors.forename: Xi
authors.initials: X
authors.lastname: Yang
authors.affiliation: School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. mikesong@seu.edu.cn.
authors.forename: Guang-Ming
authors.initials: GM
authors.lastname: Song
authors.affiliation: School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. otischan@163.com.
authors.forename: Tian-Yuan
authors.initials: TY
authors.lastname: Chen
authors.affiliation: School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. 220142640@seu.edu.cn.
authors.forename: Yong
authors.initials: Y
authors.lastname: Zhang
keywords: Kinect; dynamic cooperation; jumping robot; motion capture; multi-robot docking; relative localization; relative orientation detection; sensor node recycling; wireless sensor network