| 引用本文: | 蒋荣欣,田翔,谢立,陈耀武.一种多机器人编队协同定位的方法[J].哈尔滨工业大学学报,2010,42(1):152.DOI:10.11918/j.issn.0367-6234.2010.01.035 |
| JIANG Rong-xin,TIAN Xiang,XIE Li,CHEN Yao-wu.A collaborative localization scheme for multi-robot formation[J].Journal of Harbin Institute of Technology,2010,42(1):152.DOI:10.11918/j.issn.0367-6234.2010.01.035 |
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| 摘要: |
| 针对多机器人编队导航,提出了一种协同定位的方法.一个主机器人带领其他成员机器人,主机器人配备视觉传感器及激光扫描仪,成员机器人通过融合内部传感器数据进行自身定位.主机器人利用双目视觉进行目标检测,确定目标方位及距离信息,并利用激光扫描仪结合视觉获取的方位信息得到成员机器人位置及航向.基于联邦滤波算法提出了一种联合滤波模型,融合多传感器信息得到精确定位.1个Pioneer 3-AT和3个AmigoBot机器人编队的协同定位实验表明:该方法可行,误差范围小,满足实际应用的精度要求. |
| 关键词: 多传感器融合 多机器人定位 扩展卡尔曼滤波 联邦滤波 |
| DOI：10.11918/j.issn.0367-6234.2010.01.035 |
| 分类号:TP242.6 |
| 基金项目:浙江省重大科技攻关项目(2006C11200) |
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| A collaborative localization scheme for multi-robot formation |
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JIANG Rong-xin, TIAN Xiang, XIE Li, CHEN Yao-wu
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The Institute of Advanced Digital Technologies & Instrumentation,Zhejiang University,Hangzhou 310027,China
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| Abstract: |
| A precise collaborative localization scheme is proposed for multi-robot formation.The robot formation adopts the leader-follower model,and each robot of the group is equipped with its own unique sensors.All robots locate themselves by integreting the data from their inner sensors.The leading robot uses the binocular vision system to obtain the target orientation and distance information by object detection technique.The laser scanner is used to obtain the position and course of the member robots.A federal filter model is proposed for the integretion of data from those sensors to estimate the precise localization.To prove the proposed scheme,we have implemented a team localization experiment with a Pioneer 3-AT robot and three AmigoBot robots.The results verify that our proposed scheme is valid. |
| Key words: multi-sensors fusion multi-robots localization extended Kalman filter federal filter |
