Naslov
Dynamic Range-Only Localization for Multi-Robot Systems

Autori
Cao, Yanjun ; Li, Meng ; Švogor, Ivan ; Wei, Shaoming ; Beltrame, Giovanni

Izvornik
IEEE access (2169-3536) 6 (2018), 1; 46527-46537

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Multi-robot, range-only localization, UWB, EKF

Sažetak
The localization problem for multi–robot teams has been extensively studied with the goal of obtaining precise positioning information, such as required by a variety of robotic applications. This paper proposes a dynamic localization approach which exploits multiple robots equipped with range– only ultra–wideband sensors to create and maintain a common self–adaptive coordinate system. For 2D localization, we use three robots with relative range measurements to build a global coordinate system. We recursively apply an extended Kalman filter, which results in accurate position estimates over time. We also propose a reconfiguration approach that prevents error accumulation from ultra–wideband sensors. The applicability of our approach is tested through a campaign of simulations, which show promising results.

Izvorni jezik
Hrvatski

Znanstvena područja
Računarstvo, Interdisciplinarne tehničke znanosti

POVEZANOST RADA