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
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
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
會議性質 國際
研討會時間 20080901~20080903
通訊作者 奇謚,蔡
國別 CHN
出版型式 電子版

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