教師資料查詢 | 類別: 會議論文 | 教師: 蔡奇謚 Chi-yi Tsai (瀏覽個人網頁)

標題:Multi-robot cooperative sensing and localization
學年97
學期1
發表日期2008/09/01
作品名稱Multi-robot cooperative sensing and localization
作品名稱(其他語言)
著者Song, Kai-Tai; Tsai, Chi-Yi; Chiu, Cheng-Hsien
作品所屬單位淡江大學電機工程學系
出版者
會議名稱2008 IEEE International Conference on Automation and Logistics (ICAL 2008)
會議地點Qingdao, China
摘要This paper presents a novel method for mobile robot localization based on multi-robot cooperative sensing. A multi-robot cooperative localization scheme is proposed using visual detection and sensor data fusion. The visual detection system employs a stereo vision module for both observing other robots and obtaining environmental information. Each mobile robot is able to recognize its teammates by using the vision system. The localization error is reduced through the proposed sensor fusion algorithm. The cooperative localization algorithm consists of two stages: serial fusion and parallel fusion. Serial fusion aims to identify the positional uncertainty of an observed robot while parallel fusion reduces its positional error based on Kalman filtering. The multi-robot cooperative localization system has been realized through the server-client architecture. Experimental results are presented to validate the effectiveness of the proposed algorithms.
關鍵字Kalman filtering; Multi-robot system; cooperative localization; mobile robot localization; sensor data fusion
語言英文
收錄於
會議性質國際
校內研討會地點
研討會時間20080901~20080903
通訊作者奇謚,
國別中國
公開徵稿
出版型式電子版
出處
相關連結
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