Simultaneous localization assistance for multiple mobile robots using particle filter based target tracking

Peshala G. Jayasekara, Leon Palafox, Takeshi Sasaki, Hideki Hashimoto, Beom H. Lee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Research in the areas of localization, mapping and path planning for single mobile robots has been carried out extensively. Nevertheless, relatively little of its work is applied to multiple robot systems. Moreover, when these robots coexist with human, complex and unpredictable human environments make the above navigational tasks even more challenging. To address this problem we propose intelligent assistance, a novel scheme to assist mobile robots by providing localization information externally. This scheme aims to combine the research fields of autonomous mobile robot navigation and target tracking. The mobile robots are detected using a laser range finder and camera based sensor unit. Using Rao-Blackwellized particle filter technique, the sensory information is integrated in a probabilistic manner and the mobile robots that need assistance are continuously tracked. We maneuver the non-holonomic constraint of mobile robots together with suitable state variables to obtain the heading angle of the robot. The preliminary experiments show the validity of the proposed scheme for simultaneous localization assistance for multiple mobile robots.

Original languageEnglish
Title of host publicationProceedings of the 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010
Pages469-474
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010 - Colombo
Duration: 2010 Dec 172010 Dec 19

Other

Other2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010
CityColombo
Period10/12/1710/12/19

Fingerprint

Target tracking
Mobile robots
Robots
Range finders
Motion planning
Navigation
Cameras
Lasers
Sensors
Experiments

Keywords

  • Localization
  • Particle filter
  • Target tracking

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Jayasekara, P. G., Palafox, L., Sasaki, T., Hashimoto, H., & Lee, B. H. (2010). Simultaneous localization assistance for multiple mobile robots using particle filter based target tracking. In Proceedings of the 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010 (pp. 469-474). [5715707] https://doi.org/10.1109/ICIAFS.2010.5715707

Simultaneous localization assistance for multiple mobile robots using particle filter based target tracking. / Jayasekara, Peshala G.; Palafox, Leon; Sasaki, Takeshi; Hashimoto, Hideki; Lee, Beom H.

Proceedings of the 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010. 2010. p. 469-474 5715707.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jayasekara, PG, Palafox, L, Sasaki, T, Hashimoto, H & Lee, BH 2010, Simultaneous localization assistance for multiple mobile robots using particle filter based target tracking. in Proceedings of the 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010., 5715707, pp. 469-474, 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010, Colombo, 10/12/17. https://doi.org/10.1109/ICIAFS.2010.5715707
Jayasekara PG, Palafox L, Sasaki T, Hashimoto H, Lee BH. Simultaneous localization assistance for multiple mobile robots using particle filter based target tracking. In Proceedings of the 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010. 2010. p. 469-474. 5715707 https://doi.org/10.1109/ICIAFS.2010.5715707
Jayasekara, Peshala G. ; Palafox, Leon ; Sasaki, Takeshi ; Hashimoto, Hideki ; Lee, Beom H. / Simultaneous localization assistance for multiple mobile robots using particle filter based target tracking. Proceedings of the 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010. 2010. pp. 469-474
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