Multi-Robot Cooperative Sensing and Localization

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题名:	Multi-Robot Cooperative Sensing and Localization
作者:	Song, Kai-Tai;Tsai, Chi-Yi;Chiu, Cheng-Hsien
贡献者:	淡江大學電機工程學系
日期:	2008
上传时间:	2013-03-11 14:21:07 (UTC+8)
出版者:	New York :IEEE (Institute of Electrical and Electronics Engineers) Xplore
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.
關聯:	Automation and Logistics (ICAL), 2008 IEEE International Conference on, pp.431-436
DOI:	10.1109/ICAL.2008.4636190
显示于类别:	[電機工程學系暨研究所] 專書之單篇

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