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题名: A navigation method for multiple robots based on a single mobile node
作者: Ji DX(冀大雄); Liu J(刘健)
作者部门: 水下机器人研究室
关键词: Algorithms ; Industrial robots ; Observability
刊名: 机器人
ISSN号: 1002-0446
出版日期: 2012
卷号: 34, 期号:6, 页码:764-768
收录类别: EI ; CSCD
产权排序: 1
摘要: To satisfy the requirements of independent navigation in low cost multiple robots, a navigation frame of masterslave robots with only one master robot is introduced briefly. A range-only navigation algorithm for slave robots of low cost is presented for the navigation in unknown current. This algorithm only needs a master robot. The master is just a single mobile node which has high navigation performance. Observability of this master-salve system is theoretically analyzed. The conditions of slave robot trajectory under which observability is guaranteed are evaluated by a slave robot in real-time. The slave takes appropriate action to control its heading to achieve observability if observability is lost on the current trajectory. The navigation algorithm is implemented by a standard extended Kalman filter, and it is able to acquire accurate estimation of robot's position. The simulation results show its effectiveness of the proposed algorithm.
语种: 英语
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10552
Appears in Collections:水下机器人研究室_期刊论文

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Recommended Citation:
Ji DX,Liu J. A navigation method for multiple robots based on a single mobile node[J]. 机器人,2012,34(6):764-768.
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文件名: A navigation method for multiple robots based on a single mobile node.pdf
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