Swarm Robotics with ROS and AprilTag-based Localization

A multi-robot system designed for coordinated movements to form a seven-segment display using real-time localization and control through ROS2 and AprilTag.

Overview

This project aims to design and implement a swarm robotic system where six robots work in coordination to form a physical seven-segment display. The system explores multi-robot coordination and real-time localization using camera-based detection. Each robot moves to a specific point in space, representing segments of the display.

Key Features

• Utilizes six robots for coordinated movements
• Real-time localization using AprilTags and an Intel Realsense camera
• Multi-robot control via ROS2 and MicroROS
• ESP32 and Arduino-based communication for robot control

System Architecture

The system is divided into multiple components:

• Camera Localization: The Intel Realsense camera, mounted overhead, detects the positions of the robots using AprilTags. The AprilTag node processes camera data and publishes the robots' positions relative to the camera frame.
• Path Planning: Using the camera data and user input, the path planner calculates the robots' target angles and velocities, guiding them to their designated positions.
• Robot Control: Each robot's movements are controlled using an ESP32 running MicroROS, which communicates commands to an Arduino for motor and servo control.

Technical Challenges

One challenge faced during the project was achieving accurate localization with the overhead camera. Originally, the camera was mounted at a calculated angle, but inaccuracies in detection led to repositioning it directly overhead. Another challenge was configuring the ESP32 to run MicroROS effectively, requiring custom configurations and power management.

Technical Specifications

• Robots: Elegoo Smart Robot Car Kit V4.0 with ESP32 and Arduino
• Localization: Intel Realsense D435 camera with AprilTags
• Control: ROS2 for multi-robot communication
• Programming: Python for path planning, MicroROS for robot communication

Technical Documents

Click below to download or view the technical documents related to this project.

Project Report