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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)
Department水下机器人研究室
Source Publication机器人
ISSN1002-0446
2012
Volume34Issue:6Pages:764-768
Indexed ByEI ; CSCD
EI Accession number20130215895222
CSCD IDCSCD:4715269
Contribution Rank1
KeywordAlgorithms Industrial Robots Observability
AbstractTo 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.
Language英语
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10552
Collection水下机器人研究室
Recommended Citation
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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