Using cricket sensor nodes for Pioneer robot localization

Kapse, Atul; Gu, Dongbing; Hu, Zhen

doi:10.1109/icma.2009.5246393

Cited by 2 publications

(1 citation statement)

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“…Franchi et al [11] used laser range finders based approach and extended general relative observation scenarios into anonymous mutual observation scenarios for RL. In [12] a stationary synchronized sensor network has been considered to established RL for an MRS. However, applicability of this method is limited to known environments as they require preinstallation of infrastructure.…”

Section: Introductionmentioning

confidence: 99%

Pseudo-linear measurement approach for heterogeneous multi-robot relative localization

Wanasinghe

Mann

Gosine

2013

2013 16th International Conference on Advanced Robotics (ICAR)

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The purpose of relative localization (RL) is to locate and track one or more robots in another moving robot body-fixed coordinate frame using relative range and/or bearing measurements. Most available RL methods assume known initial conditions at the first encounter of an arbitrary robot, and the tracking is then followed using an extended Kalman filter (EKF). In case of poor filter initialization, these EKF based methods sometimes cause instability or demand longer settling time. To overcome this issue, this paper proposes a pseudolinear measurement (PM) based technique for RL where true nonlinear measurements are algebraically transformed into PM.The proposed RL scheme is tested in Monte Carlo simulations for a heterogeneous multi-robot system comprising both aerial and ground robots. Results demonstrate that the proposed method performs RL with 5∼10 cm positional accuracy and 0.075∼0.1 rad orientational accuracy. The performance of the PM based RL is then compared against traditional EKF based methods with unknown filter initialization. The results demonstrate that the proposed method able to achieve both the positional and orientational accuracy within 12 iterations, whereas the traditional methods requires more than 250 iterations to achieve the same accuracy. The experiment validation of the proposed method was performed and results are congruent with the simulations.

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Section: Introductionmentioning

confidence: 99%