Abstract
Inertial navigation adopts localization base stations to correct cumulative errors for mine rescue robots, while requirements of explosion-proof safety hinder the application of regular powered base stations in harsh coal mine environments. Therefore, we propose MineTag, a novel localization base station for self-positioning of coal mine robots, which is built with low-cost and battery-free optical tags via a differ-neighbor deployment strategy. The main innovation of the tag is to modulate the light retro-reflection with a light absorption mechanism, allowing the tag to reflect a specific light intensity without the need for a power source. According to the topological relationship of tags, we propose a novel tag recognition algorithm based on trajectory matching to determine which tag the robot is under. Finally, we implemented MineTag and evaluated its performance in a real coal mine. Experimental results show that MineTag can achieve the tag recognition accuracy of more than 95%, and the localization accuracy is 98% error of 2.6 m or less.
This work was supported by the National Natural Science Foundation of China under Grant 51904294 and the Natural Science Foundation of Jiangsu Province under Grant BK20221109.
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Yu, X., Yang, X., Yin, Y., Gao, S., Chen, P., Niu, Q. (2022). MineTag: Exploring Low-Cost Battery-Free Localization Optical Tag for Mine Rescue Robot. In: Wang, L., Segal, M., Chen, J., Qiu, T. (eds) Wireless Algorithms, Systems, and Applications. WASA 2022. Lecture Notes in Computer Science, vol 13473. Springer, Cham. https://doi.org/10.1007/978-3-031-19211-1_18
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