Cooperative positioning with multiple robots

Ryo Kurazume, Shigemi Nagata, Shigeo Hirose

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

210 被引用数 (Scopus)

抄録

A number of positioning identification techniques have been used for mobile robots. Dead reckoning is a popular method, but is not reliable when a robot travels long distances or over an uneven surface because of variations in wheel diameter and wheel slippage. The landmark method, which estimates the current position relative to landmarks, cannot be used in an uncharted environment. We propose a new method called `Cooperative Positioning with Multiple Robots.' For cooperative positioning, we divide the robots into two groups, A and B. One group, say A, remains stationary and acts as a landmark while group B moves. The moving group B then stops and acts as a landmark for group A. This `dance' is repeated until the target robot position are reached. Cooperative positioning has a far lower accumulated positioning error than dead reckoning, and can work in three-dimensions which is not possible with dead reckoning. Also, this method has inherent landmarks and therefore works in uncharted environments. This paper discusses the positioning accuracy of our method with error variances for an example with three mobile robots.

本文言語英語
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版社Publ by IEEE
ページ1250-1256
ページ数7
pt 2
ISBN(印刷版)0818653329
出版ステータス出版済み - 1 1 1994
外部発表はい
イベントProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
継続期間: 5 8 19945 13 1994

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
番号pt 2
ISSN(印刷版)1050-4729

その他

その他Proceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA
Period5/8/945/13/94

All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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