I'm trying to make swarm robots that use 8 IR LEDs and 8 Photodiodes arranged alternately along the circumference of the circular body to determine the range and bearing of other nearby swarm robots (similar ro Rice University's r-one)
Each IR LED and Photodiode is wired as shown below:
The IR LED's and Photo-diodes on one robot are separated by some opaque object. The intention is that when a high analog value is read from certain Photo-diode(s) of the 8 present, another robot's relative range and bearing can be estimated.
The problem is that a high analog value is read even when the robot is near an obstacle because of the reflect infrared light from it's own LED's.
Is there any way for a robot to determine if a high analog value read is because of another robot or because of an obstacle?
Thanks in advance!