利用扩展卡尔曼滤波在移动机器人编队中进行相对定位

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI:10.1109/ROMOCO.2004.240902

Frank E. Schneider, D. Wildermuth

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引用次数: 21

摘要

提出了一种新的多机器人系统相对位置估计方法。利用激光扫描系统的信息来估计彼此之间的相对位置。利用扩展卡尔曼滤波(EKF)将这些信息组合成一个连续更新的位置估计。一组中的所有机器人都使用这些数据来生成一个共同的坐标系统。给出了实验结果，并以地层运动为例进行了应用。

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Using an extended Kalman filter for relative localisation in a moving robot formation

This work presents a new approach to relative position estimation in multi robot systems. The information of laser scanner systems is used to estimate the relative positions between each other. An extended Kalman filter (EKF) is used to combine this information into one continuously updated position estimation. All robots of a group use these data in order to generate one common coordinate system. Experimental results are presented including formation movement as an example application.

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Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)

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