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A navigation method for multiple robots based on a single mobile node
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
发表期刊机器人
ISSN1002-0446
2012
卷号34期号:6页码:764-768
收录类别EI ; CSCD
EI收录号20130215895222
CSCD记录号CSCD:4715269
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
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/10552
专题水下机器人研究室
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GB/T 7714
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.
APA Ji DX,&Liu J.(2012).A navigation method for multiple robots based on a single mobile node.机器人,34(6),764-768.
MLA Ji DX,et al."A navigation method for multiple robots based on a single mobile node".机器人 34.6(2012):764-768.
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