Mobile Robots Cooperation with Biased Exteroceptive Measurements - Archive ouverte HAL Access content directly
Conference Papers Year :

Mobile Robots Cooperation with Biased Exteroceptive Measurements

Abstract

—When mobile robots need to cooperate, mutual localization is a key issue. The objective is to enable cooperative localization capabilities, such that each robot determines the partners positions in a common frame with reliable confidence estimates. Exteroceptive sensors can measure distances to known beacons in order to provide absolute information. It often exists biases that affect these measurements because of particular environment conditions or because of an inaccurate knowledge of the beacons positions. In this work, each robot is also equipped with proprioceptive sensors, but no sensor can measure the inter-distance between the robots. The method that we consider is fully distributed between the robots, which share positions and biases estimates. In order to handle the data incest problem, we use constraint propagation techniques on intervals. The distributed cooperative localization method gives sets that always contain the true positions of the robots without any over-convergence. Simulation results show that the so-called method improves localization performance compared to standalone methods.
Fichier principal
Vignette du fichier
Khaoula_Lassoued_ICARCV_2014.pdf (857.79 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01098024 , version 1 (22-12-2014)

Identifiers

  • HAL Id : hal-01098024 , version 1

Cite

Khaoula Lassoued, Oana Stanoi, Philippe Bonnifait, Isabelle Fantoni. Mobile Robots Cooperation with Biased Exteroceptive Measurements. 13th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014), Dec 2014, Marina Bay Sands, Singapore. pp.1838-1840. ⟨hal-01098024⟩
119 View
139 Download

Share

Gmail Facebook Twitter LinkedIn More