Multi-robot cooperative sensing and localization

機構典藏 > College of Engineering > Graduate Institute & Department of Electrical Engineering > Proceeding > Item 987654321/81377

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Title:	Multi-robot cooperative sensing and localization
Authors:	Song, Kai-Tai;Tsai, Chi-Yi;Chiu, Cheng-Hsien
Contributors:	淡江大學電機工程學系
Keywords:	Kalman filtering;Multi-robot system;cooperative localization;mobile robot localization;sensor data fusion
Date:	2008-09-01
Issue Date:	2013-03-11 14:30:34 (UTC+8)
Abstract:	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.
DOI:	10.1109/ICAL.2008.4636190
Appears in Collections:	[Graduate Institute & Department of Electrical Engineering] Proceeding

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