Yanjun Cao, Meng Li, Ivan Svogor, Shaoming Wei et Giovanni Beltrame
Article de revue (2018)
Document en libre accès dans PolyPublie et chez l'éditeur officiel |
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Libre accès au plein texte de ce document Version officielle de l'éditeur Conditions d'utilisation: IEEE Open Access Publishing Agreement Télécharger (1MB) |
Abstract
The localization problem for multi-robot teams has been extensively studied with the goal of obtaining precise positioning information, such as required by a variety of robotic applications. This paper proposes a dynamic localization approach that exploits multiple robots equipped with range-only ultra-wideband sensors to create and maintain a common self-adaptive coordinate system. For 2-D localization, we use three robots with relative range measurements to build a global coordinate system. We recursively apply an extended Kalman filter, which results in accurate position estimates over time. We also propose a reconfiguration approach that prevents error accumulation from ultra-wideband sensors. The applicability of our approach is tested through a campaign of simulations, which show promising results.
Mots clés
multi-robot; range-only localization; uwb; ekf; cooperative localization; robots
Sujet(s): |
2600 Robotique > 2600 Robotique 2700 Technologie de l'information > 2706 Génie logiciel |
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Département: | Département de génie informatique et génie logiciel |
Organismes subventionnaires: | Natural Sciences and Engineering Research Council Strategic Partnership |
Numéro de subvention: | 479149-2015 |
URL de PolyPublie: | https://publications.polymtl.ca/4814/ |
Titre de la revue: | IEEE Access (vol. 6) |
Maison d'édition: | IEEE |
DOI: | 10.1109/access.2018.2866259 |
URL officielle: | https://doi.org/10.1109/access.2018.2866259 |
Date du dépôt: | 16 août 2021 15:11 |
Dernière modification: | 11 avr. 2024 00:45 |
Citer en APA 7: | Cao, Y., Li, M., Svogor, I., Wei, S., & Beltrame, G. (2018). Dynamic range-only localization for multi-robot systems. IEEE Access, 6, 46527-46537. https://doi.org/10.1109/access.2018.2866259 |
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