Název: Multiple Indoor Robot Localization Using Infrared Beacons
Autoři: Krejsa, Jiří ; Věchet, Stanislav ; Chen, K.-S.
Typ dokumentu: Příspěvky z konference
Konference/Akce: Engineering Mechanics 2014, Svratka (CZ), 2014-05-12 / 2014-05-15
Rok: 2014
Jazyk: eng
Abstrakt: Mobile robot localization based on active artificial landmarks is well established robust technique in indoor mobile robotics. This paper explores the extension of the method to multiple robot localization, with the key idea of using the robots themselves as the artificial landmarks, supplying other robots in the group with its estimate of position. The method uses nonlinear version of Kalman filter for determination of position estimate in 2D space, x-y coordinates and angle with respect to global coordinate system, with the estimate represented by mean values and corresponding covariances. Simulation results based on model well verified with the real system suggest that while only small reduction of number of fixed active landmarks can be achieved, the main advantage of the method is in increased robustness of localization technique with respect to obscured landmarks fields of view.
Klíčová slova: indoor localization; infrared beacons; Kalman filter; mobile robot
Zdrojový dokument: Engineering mechanics 2014, ISBN 978-80-214-4871-1, ISSN 1805-8248

Instituce: Ústav termomechaniky AV ČR (web)
Informace o dostupnosti dokumentu: Dokument je dostupný v příslušném ústavu Akademie věd ČR.
Původní záznam: http://hdl.handle.net/11104/0242664

Trvalý odkaz NUŠL: http://www.nusl.cz/ntk/nusl-180471


Záznam je zařazen do těchto sbírek:
Věda a výzkum > AV ČR > Ústav termomechaniky
Konferenční materiály > Příspěvky z konference