A General Gaussian-Mixture Approach for Range-only Mapping using Multiple Hypotheses

被引：23

作者：

Caballero, F. ^{[1
]}

Merino, L. ^{[2
]}

Ollero, A. ^{[1
,3
]}

机构：

[1] Univ Seville, Escuela Super Ingenieros, Camino Descubrimientos S-N, Seville 41092, Spain

[2] Pablo Olavide Univ, Seville, 41013, Spain

[3] Ctr Adv Aerosp Technol, Parque Tecnol, La Rinconad, 41309, Spain

来源：

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年

关键词：

LOCALIZATION;

D O I：

10.1109/ROBOT.2010.5509704

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Radio signal-based localization and mapping is becoming more interesting as applications involving the collaboration between robots and static wireless devices are more common. Under certain assumptions, the problem is basically equivalent to the range-only localization and mapping problem. The paper presents a method for mapping with a mobile robot the position of a set of nodes using radio signal measurements. It uses Gaussian Mixtures for undelayed initialization of the position of the wireless nodes. The paper shows how the approach can be integrated within a Kalman Filter. This way, information can be used in the filter since the first measurement. The paper describes simulations to verify the feasibility of the approach, and presents results obtained with experimental data involving one mobile robot and a wireless sensor network.

引用

页码：4404 / 4409

页数：6

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