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Alternative TitleMulti-UAV Cooperative Observation Based on ESMF in 3D Environments
谷丰; 何玉庆; 韩建达; 王越超
Source Publication机器人
Indexed ByEI
EI Accession number20103013094129
Contribution Rank1
Funding Organization机器人学国家重点实验室自主课题资助(RLZ200806)
Keyword多机器人系统 扩展集员估计方法 协作观测
Other AbstractA new multiple unmanned aerial vehicles (UAVs) cooperative observation approach based on extended set-membership filter (ESMF) is proposed to track a moving target in 3D environments. The new method embeds the data fusion among multiple UAVs into estimation process, which decreases the data processing and improves the algorithm speed. Only observation information is transmitted by the cooperative UAV during cooperative observation, so the communication burden of the multi-UAV system is relatively light. Moreover, when fusing the observation result, the new method avoids approximating estimation result so as to improve the accuracy of the cooperative observation result. Finally, the simulations in 3D environments are conducted to verify the feasibility of the method.
Document Type期刊论文
Corresponding Author谷丰
Recommended Citation
GB/T 7714
谷丰,何玉庆,韩建达,等. 三维环境中基于ESMF的多机器人协作观测方法[J]. 机器人,2009,31(S1):73-80.
APA 谷丰,何玉庆,韩建达,&王越超.(2009).三维环境中基于ESMF的多机器人协作观测方法.机器人,31(S1),73-80.
MLA 谷丰,et al."三维环境中基于ESMF的多机器人协作观测方法".机器人 31.S1(2009):73-80.
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