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Active Persistent Localization of a Three-Dimensional Moving Target Under Set-Membership Uncertainty Description Through Cooperation of Multiple Mobile Robots
Gu F(谷丰); He YQ(何玉庆); Han JD(韩建达)
作者部门机器人学研究室
关键词Localization Motion Planning Multiplerobot System Set-membership Filter
发表期刊IEEE Transactions on Industrial Electronics
ISSN0278-0046
2015
卷号62期号:8页码:4958-4971
收录类别SCI ; EI
EI收录号20152701004796
WOS记录号WOS:000357268300030
产权排序1
摘要The persistent localization of moving targets is one of the most important applications of mobile robot systems. However, the sensors on each individual robot are often not sufficiently accurate for this task, presenting a severe limitation on the application of robots to many situations. To overcome this problem, systems of multiple robots have been established. These systems improve the localization accuracy of mobile targets by fusing together multiple sensing data. Numerous studies have demonstrated that the relative motion (or specifically, the relative pose) between the robot and the target, as well as that among different robots, strongly influences the final localization accuracy of the data fusion algorithm. In other words, the regulation of motion in a multiple-robot system will lead to better localization results. Thus, in this paper, a new active persistent localization (APL) scheme is proposed. The underlying concept of this scheme is based on set-membership descriptions of uncertainties. The basic problem is formulated in the framework of an enhanced set-membership filter, and a new data fusion algorithm with improved accuracy and convergence properties is designed. A motion-planning algorithm is then incorporated under the so-called optimal localization condition to complete the APL scheme. Simulations using multiple 3-D mobile robot systems and experiments on a multiple rotor-flying-robots test bed show that the proposed algorithm successfully enhances the accuracy of the persistent localization of the moving target.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
关键词[WOS]ENVIRONMENT ; TRACKING ; FILTER ; UAVS
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
引用统计
被引频次:8[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/16702
专题机器人学研究室
通讯作者Gu F(谷丰)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Gu F,He YQ,Han JD. Active Persistent Localization of a Three-Dimensional Moving Target Under Set-Membership Uncertainty Description Through Cooperation of Multiple Mobile Robots[J]. IEEE Transactions on Industrial Electronics,2015,62(8):4958-4971.
APA Gu F,He YQ,&Han JD.(2015).Active Persistent Localization of a Three-Dimensional Moving Target Under Set-Membership Uncertainty Description Through Cooperation of Multiple Mobile Robots.IEEE Transactions on Industrial Electronics,62(8),4958-4971.
MLA Gu F,et al."Active Persistent Localization of a Three-Dimensional Moving Target Under Set-Membership Uncertainty Description Through Cooperation of Multiple Mobile Robots".IEEE Transactions on Industrial Electronics 62.8(2015):4958-4971.
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