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Statements

Subject Item

n2:RIV%2F61388998%3A_____%2F14%3A00437595%21RIV15-AV0-61388998

rdf:type

n14:Vysledek skos:Concept

dcterms:description

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. 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.

dcterms:title

Multiple Indoor Robot Localization Using Infrared Beacons Multiple Indoor Robot Localization Using Infrared Beacons

skos:prefLabel

Multiple Indoor Robot Localization Using Infrared Beacons Multiple Indoor Robot Localization Using Infrared Beacons

skos:notation

RIV/61388998:_____/14:00437595!RIV15-AV0-61388998

n3:aktivita

n4:I

n3:aktivity

I

n3:dodaniDat

n15:2015

n3:domaciTvurceVysledku

n13:1655868 n13:5089468

n3:druhVysledku

n16:D

n3:duvernostUdaju

n8:S

n3:entitaPredkladatele

n12:predkladatel

n3:idSjednocenehoVysledku

31086

n3:idVysledku

RIV/61388998:_____/14:00437595

n3:jazykVysledku

n17:eng

n3:klicovaSlova

mobile robot; indoor localization; Kalman filter; infrared beacons

n3:klicoveSlovo

n6:infrared%20beacons n6:mobile%20robot n6:indoor%20localization n6:Kalman%20filter

n3:kontrolniKodProRIV

[FE4771B1B6A6]

n3:mistoKonaniAkce

Svratka

n3:mistoVydani

Brno

n3:nazevZdroje

Engineering mechanics 2014

n3:obor

n5:JB

n3:pocetDomacichTvurcuVysledku

2

n3:pocetTvurcuVysledku

3

n3:rokUplatneniVysledku

n15:2014

n3:tvurceVysledku

Věchet, Stanislav Chen, K.-S. Krejsa, Jiří

n3:typAkce

n18:EUR

n3:zahajeniAkce

2014-05-12+02:00

s:issn

1805-8248

s:numberOfPages

4

n19:hasPublisher

Vysoké učení technické v Brně

n7:isbn

978-80-214-4871-1