| 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 | en |
| 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,蔡 |
| 國別 | CHN |
| 公開徵稿 | |
| 出版型式 | 電子版 |
| 出處 | |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/81377 ) |
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