Cart (Loading....) | Create Account
Close category search window
 

Simultaneous localization assistance for multiple mobile robots using particle filter based target tracking

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Jayasekara, P.G. ; Inst. of Ind. Sci., Univ. of Tokyo, Tokyo, Japan ; Palafox, L. ; Sasaki, T. ; Hashimoto, H.
more authors

Research in the areas of localization, mapping and path planning for single mobile robots has been carried out extensively. Nevertheless, relatively little of its work is applied to multiple robot systems. Moreover, when these robots coexist with human, complex and unpredictable human environments make the above navigational tasks even more challenging. To address this problem we propose intelligent assistance, a novel scheme to assist mobile robots by providing localization information externally. This scheme aims to combine the research fields of autonomous mobile robot navigation and target tracking. The mobile robots are detected using a laser range finder and camera based sensor unit. Using Rao-Blackwellized particle filter technique, the sensory information is integrated in a probabilistic manner and the mobile robots that need assistance are continuously tracked. We maneuver the non-holonomic constraint of mobile robots together with suitable state variables to obtain the heading angle of the robot. The preliminary experiments show the validity of the proposed scheme for simultaneous localization assistance for multiple mobile robots.

Published in:

Information and Automation for Sustainability (ICIAFs), 2010 5th International Conference on

Date of Conference:

17-19 Dec. 2010

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.