Multiple Indoor Robot Localization Using Infrared Beacons

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61388998%3A_____%2F14%3A00437595" target="_blank" >RIV/61388998:_____/14:00437595 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Multiple Indoor Robot Localization Using Infrared Beacons
Original language description
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.
Czech name
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Czech description
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Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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