Control for Localization of Targets using Range-only Sensors

被引：25

作者：

Stump, Ethan ^{[1
]}

Kumar, Vijay ^{[1
]}

Grocholsky, Ben ^{[2
]}

Shiroma, Pedro M. ^{[3
]}

机构：

[1] Univ Penn, GRASP Lab, Philadelphia, PA 19104 USA

[2] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA

[3] Univ Fed Minas Gerais, VERLab DCC, BR-31270010 Belo Horizonte, MG, Brazil

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2009年 / 28卷 / 06期

关键词：

nonlinear estimation; range-only localization; multi-robot estimation; set-theoretic techniques; over parameterization; control for localization;

D O I：

10.1177/0278364908098559

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We present an application of a novel framework and algorithms for: (1) conservatively and recursively incorporating information obtained through sensors that yield observations that are non-linear functions of the state; and (2) finding control inputs that continuously improve the quality of the resulting estimates. We present an experimental study of the application of our framework to mobile robots utilizing range-only sensors, and demonstrate its effectiveness in dealing with problems of target localization with one or more robots where traditional approaches involving linearization fail to consistently capture uncertainty.

引用

页码：743 / 757

页数：15

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