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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010
ページ469-474
ページ数6
DOI
出版ステータスPublished - 2010
イベント2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010 - Colombo, Sri Lanka
継続期間: 2010 12 172010 12 19

出版物シリーズ

名前Proceedings of the 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010

Conference

Conference2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010
CountrySri Lanka
CityColombo
Period10/12/1710/12/19

ASJC Scopus subject areas

  • Control and Systems Engineering

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