A Method for Active Global Localization In Multi-robot System

被引:0
作者
Luo Ronghua [1 ]
Min Huaqing [1 ]
Li Maohai [2 ]
Huang Qingcheng [2 ]
机构
[1] S China Univ Technol, Sch Comp Sci & Engn, Guangzhou 510006, Guangdong, Peoples R China
[2] Harbin Inst Technol, Sch Comp Sci & Technol, Harbin 150001, Peoples R China
来源
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2008年 / 5卷 / 03期
关键词
cooperative localization; active localization; Monte Carlo Loclization;
D O I
暂无
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
In multi-robot system the ability to exchange information can reduce the uncertainty in the estimated location when robots can see each other. In this paper, a kind of dynamically evolving coordination architecture is proposed for cooperative localization according to the relative positions between robots. And to further improve the efficiency of cooperative localization, a decision theory based mechanism is proposed to make the robots cooperate actively during the localization process. Since stably tracking the multi-hypothesis of the robots' own position and their partners' position is of great importance for making a good decision of where to go in active localization, the co-evolution based adaptive Monte Carlo localization method in which samples are clustered into species to represents a hypothesis of robot's pose in a higher level than a single sample is adopted. Experiments are designed and carried out to prove the efficiency and stability of the proposed method.
引用
收藏
页码:269 / 278
页数:10
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