Engineering Mechanics

International Conference

Proceedings Vol. 20 (2014)


ENGINEERING MECHANICS 2014

20th INTERNATIONAL CONFERENCE
May 12 – 15, 2014, Svratka, Czech Republic
;
Editors: Vladimír Fuis

Copyright © 2014 Brno University of Technology Institute of Solid Mechanics, Mechatronics and Biomechanics

ISBN 978-80-214-4871-1 (printed)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

list of papers scientific commitee

MULTIPLE INDOOR ROBOT LOCALIZATION USING INFRARED BEACONS
Krejsa J., Vechet S., Chen K.
pages 359 - 362, full text

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.


back to list of papers

Text and facts may be copied and used freely, but credit should be given to these Proceedings.

All papers were reviewed by members of the scientific committee.


imce   Powered by Imce 3.12  © 2019, Pavel Formánek, Institute of Thermomechanics AS CR, v.v.i. [generated: 0.0222s]